diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_14_36_57_train/lerobot_v3.0/videos/observation.images.wrist_right/chunk-000/file-000.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_14_36_57_train/lerobot_v3.0/videos/observation.images.wrist_right/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d371bb43ed072d33ebc6ae882e0dbfa075db2bc7
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_14_36_57_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:f0ccfe9cbf7947f980404db6230fdb61126edc43ba994cde73a4d4b0a49e63fb
+size 206050721
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_14_36_57_train/lerobot_v3.0/videos/observation.images.wrist_right/chunk-000/file-001.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_14_36_57_train/lerobot_v3.0/videos/observation.images.wrist_right/chunk-000/file-001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1b8c5a63cdd278d0f2cbaf19531ca9bd203b307
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_14_36_57_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:a13889ec873e779fb633ad749c8fc405f39d970f511130be771659c1f9a9bd01
+size 95371274
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000000.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1b5c2807d77035293d3410d8fada976777f76fe4
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21b0f5d5c9caa907d7efad47368805e0b4938e3f4a40d33cf33eee73d54a4436
+size 2004067
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000001.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000001.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..851b73ef80ffd148df536adecccfa9d563936c33
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000001.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ab5526a92422555ac78e251bd2e4d743bb551a1b99360faa0d94201a7356ce3
+size 1810112
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000002.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000002.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d9ac123e2c316f217854d165811147dfa1b1c247
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000002.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd18de5a5ccd2ae07f37fdc688b36942a97911b018c31d1093055834d4147d92
+size 2133580
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000003.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000003.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f30f41a9e84378494f039100b16e829ad055951e
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000003.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e18ebe1821ba67aee5aa06cb267dfeae374fae33e902f6456d0402a50ff11e3
+size 2012485
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000004.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000004.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c744e1fcf6be769d8f6498fb06bb626bfcf28dd9
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000004.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5f2fb8ef54f5468e8bf50c1d9e47b8ebe89e95c787141448b3a2e4327135e11
+size 1940487
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000005.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000005.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..336c7fc9b27a2941ade447faff9a4406bbef4560
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000005.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99d7f8e76b03068378cb8ebbe13eeaf1481071bce09dd3f08739db6156db617b
+size 2096154
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000006.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000006.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..672c06e931253dfed7a4957342c962013cccdad0
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000006.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dff8dea2f4d3fd9b90dba824c9a24f24bfdc3409691f9c119b7c0d16b7f72743
+size 1838772
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000007.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000007.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..48c2e413783c597df9f7580b09e9830a47efa0b5
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000007.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56f5bd79d99470d24abaea49df3df21ce4f78fadd006af7148f797054d0d1377
+size 1784214
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000008.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000008.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a6bf1a10b8eae74367d0e4932354fc0b9861a8b1
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000008.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebdfed9a19f5ba94a4fa5f1fbb4345d34b583cf9e700332340ac010aece105c6
+size 1810227
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000009.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000009.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..669b32e37cb1d2f1972cd5a1e385fb9953a29625
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000009.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:564363895dcffa57ac2465e58108a7556383157c618b9b3f10ed0ceb2c7c5162
+size 1996880
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000010.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000010.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..703019daf480b2464129a115984cdf38ab901d17
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000010.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa0f812a05130ce1ac5657a2f4789cb5cb157c572480f7856f9007c45299588f
+size 1867956
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000011.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000011.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..abd499a724c790ac4e9b473e39aaa315a5fef575
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000011.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb5e8e70f15af877d86340a9689346735793719377266fdf45871f049d9f4770
+size 1976386
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000012.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000012.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8514aa085691287602270e3d5acc0b368af8de4d
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000012.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:392e232a56d4f436f8f0592adf599ce81ee1d6bf17bf26d2181ff3f6be15f9ca
+size 1848102
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000013.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000013.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..40f1a84c17ce2a9c3bba7d20cdc893596ddeaac8
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000013.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c3ae7fa7887f874cd30c818fe8d41089d0aa5a7e89d98e992d0fab72f6fce2e
+size 1906743
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000014.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000014.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9e58d4adf523b275155e4a23281af92ec8d59e31
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000014.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dff07de83ffcd7ba354f7d83a08b862dd73da366254767dc16b82ef5489d4859
+size 1815705
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000015.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000015.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8bfad93c5ce6143aa1d90e0e80b506949e140b27
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000015.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31626ac2c4e430fa0bec284d84eece0cab5113b830b362ebc179b85c11f12571
+size 1825449
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000016.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000016.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3eb2cbfe23be88be2bedd3a9dfdcb472e8588395
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000016.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51c292c06156ffee7fe4140332d5c91a8159506308fe20c06b10284d5b47dcfc
+size 1892195
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000017.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000017.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d4a6d45e6956a4e2685890750ce79436a593163a
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000017.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9eb18746f6829f0be4bc54d25f42899ab98c4a3ae366e4af6ba17b7c736c24d
+size 1975174
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000018.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000018.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bb2fe278de7bfef54c05ba9319e6642c817ede05
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000018.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7627d4c63598954ab94958ebdcf52e8fb502fe9d01e1bfffeba317d19fa9ca24
+size 1809999
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000019.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000019.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f87cac4844a5e6a7734774acc9cd81cf45005d6c
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000019.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f1edfafafb830a1c3da41a24629ffd72ddd2a5811f53b40feeb84f1dda5ca29
+size 1716985
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000020.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000020.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e5b5d07af123eabd57ce03d1f6e82bb22a7bc4e2
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000020.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc19095fbc509517b1752e032b1e8d1ffa923061dc586d1c4a3e79154081cef2
+size 1740569
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000021.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000021.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4a74f2476efa1f3d646050cbd5d5b0e460563b26
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000021.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca9e9c0771fe51cc71851ca75b0fd3fe661ed506384b247122f6fcbcc2fdf6db
+size 1705480
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000022.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000022.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..36d08ecd2f36ef74a1415933ce61f74ecc2b1aea
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000022.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf54aa7e54823f243640d596db41c78333abc0b92c754411b9cbd5ef1fce1f70
+size 1708560
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000023.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000023.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..58ea15c6b3840a1d4a20a5a10659b82293577601
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000023.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cf1fc502b09b0b5b253a4d3461232767c51956413c06860b475b1849089af20
+size 1879832
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000024.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000024.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..461090c09dc99cc6744e8345d8a0c0ea39ebf19b
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000024.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f6cf598002b5c39b6f410cc064ab7b10e42c5e76ef90737bfebb56953885b57
+size 1662039
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000025.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000025.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..18f8c4e5d833bd53ca91ff5c3ea04bda5b412725
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000025.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:581238269d87c0a6460bea4aa0635b9b5fb8012463a896bd81c04856f558d734
+size 1717463
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000026.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000026.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..80ca512560e84e515cfca49e15ee5a70cbb4ffcc
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000026.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd755546c6ecfb3c8bc9b94b4f1301b212eedffd052894f756e5e3065b7fcb70
+size 1725097
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000027.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000027.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5417b151721ffb3cd27e3ebd9ec4c6064f7b9799
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000027.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32ebf0eea67a5b9eda22c62c31174f18a13849823218b931bddb1775de5c8f8d
+size 1953111
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000028.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000028.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6239ef110ba808d2315ac9b877d061675df4356a
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000028.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24eb5d7ddfc790d29f723c149c8cc12af1056095ef633494c7d4325d54f2d836
+size 1873603
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000029.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000029.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..53c36f82d195f3428a73969d1375e203b837daed
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000029.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cd3fbcebe24073e2243005082ee679f006cf4bc3be8fb39cec4b3051dc232b7
+size 1701760
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000030.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000030.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..60ad02212244f580b88e0e44788436f6576edf27
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000030.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35761628613924ab6c46bc47ef036394d276aad5a6645e2dd76368d204b336f7
+size 1721923
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000031.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000031.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..288f18bda71b750f5f1f67f44024ac54fa62d105
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000031.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67832af6fdff426f4b777b404f650dadcd9774fc9463c5fa149331e0962f1649
+size 2032431
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000032.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000032.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e206ba0257a24008675f2f152dd2a07c956fec5c
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000032.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:337542a2fd1e037bef02bba17a042b883370e8ff8a343edf7e51bbaba4141528
+size 1572127
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000033.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000033.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4d564a700fa6bd40ecfd4c49751b609cdff32a22
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000033.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2610d87b57551894e539635fc09c343e7a4806f49df7732b5d3c518a8e726d79
+size 1621592
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000034.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000034.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..178fcaa5842bd020ddd296e84d440f4b02779f8e
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000034.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96518f19bad68565fe6ae356f5c6a91d8758d93e39f236e595fe26d0204b4b4d
+size 1792938
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000035.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000035.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..77026a8769b08a7161897e875215a2656d287c85
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000035.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f757760bbbc5375a088bd29f48853ab58a0b04b49f006236af35d4bb7fa0200
+size 1770131
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000036.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000036.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d85fbf3eb5efb80414efcbb0fa989b8b2e140174
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000036.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84f164fe6d2ce60b45d93af8ce26e7256a7141c0cb14f7d50af33d3afeeee4cf
+size 2745508
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000037.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000037.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9af98c89d391fd2a942ad01325e8c276d8ddecb7
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000037.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4408d0393d3080e196fc3db3b146d69ca725e1a56cc7f60bcbfdc22ea9401afd
+size 1782106
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000038.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000038.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8e7a7b4956d0460dd3ed753639ea739a22400e12
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000038.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bc5b2c52b249c5509b64b53d65859a7a5c4a9fe53864561f94f1d730e51ff47
+size 1890874
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000039.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000039.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..be885258bd804608f9e2f15f2732d633786bd2ee
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000039.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3011ccf46f4f62e7115f19c7ac81d1a718ebe6c74e6cba1d06744a17098edc8
+size 2171765
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000040.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000040.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0f1b090b8a72b663c49d8d1cbd7bb18c6f3eec62
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000040.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc7f6e6048fef618a06192edf22868741581aa431d64767cc90c27416f7533a7
+size 1783800
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000041.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000041.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..94e2e91c7c575a4aeed8ccea000e4b98847f0899
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000041.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce63fad85c384ff6913cf53611b114964998e8c37bb371854df469f9b8abe438
+size 1953042
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000042.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000042.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b69a4adb804a429adbd1fda7d5ea74e93bc0e1e1
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000042.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:592970806bc3bab161dba6f40070107809110c6fe781268becfdf1111fca0216
+size 2499042
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000043.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000043.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d90b3e91c4117652ce245969857da584bcf58699
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000043.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d128d3fa2b1432898f9cbdde6f0ad0ceca5f683912081bcd75938f9732252f97
+size 2073555
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000044.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000044.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..be2df8480c976f605a10eac98ddf43b1f79cc36c
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000044.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bfae56af6dd7fd379bbbc4201a0bcc7a40c68996c369791d84116c426256f66
+size 2052379
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000045.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000045.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..cdca872496aa615c7aa37bbbc10cd176bc483a5f
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000045.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79d8cf866d2dc9674683b815ddb4ff03edf05c3087ba9d164441cb544d0f7165
+size 1927684
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000046.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000046.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e605497492108343758d9cdbbbdd19916cff1bc9
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000046.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bca8db55b6c22d3335a5417157048bc77392ce2ac51af6fedde5ca4ad7cd8bec
+size 1928226
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000047.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000047.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6cbd9f7d146b5fde6e0f14716c9ae81f0c26eeab
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000047.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37805ca59d3ea2f7a88f44a80000ef368a93a96e2e63529f9019f51811677430
+size 2274738
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000048.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000048.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9505e06d2a5fde5a9f13b0f6e7ba215310ff3c46
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000048.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45ed9ec6dce453bf40d9fd6a454e56de3313b8b00f481450461f281853893dd5
+size 2091716
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000049.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000049.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..10cb4de77501a85a705c4bbeadc34e8d3b298445
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000049.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4096dc29918ac9c7869c4efb2daab12aee511f6b48cec622d4dc2aefdf4cb51
+size 1972599
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000050.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000050.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2074eded51ad54d6a05324cd885b6881a84a9c49
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000050.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e353ea6fea67d31389f934b5c4eb905409bd5a9384e8f5afdb733e0c2273c87
+size 1694511
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000051.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000051.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..036ee6b98d75f032e6a1dc1943333e379c83b68d
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000051.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f48d2ae78690fec64080d95e6d834993b932f285322bdb4612c62e18dda11fa
+size 1867957
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000052.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000052.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..aa4897e23bcdc8ffa9716e4112df76e9da544be9
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000052.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ec7d91a0a5fde78169d7988b737ba280c99caa14d51e2e445c4bc2a80305a8f
+size 1837304
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000053.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000053.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..89d151d462f0dbf674c77608dd71cdc9a3c8e967
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000053.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2b69e13516439eb9f5b865cf1e9271cb6cdc3859bc1f64a2b5c24ac2690bb3e
+size 1831172
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000054.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000054.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..cfa83433da55e6769a6118e64b976275f3080f61
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000054.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13898147e852e946a9f316acdf0666e9de401bf31b4958e0ac7dda2cc7be5e79
+size 1666437
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000055.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000055.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e7d739a28ab44f90ce19bf1d868dab6ab6607974
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000055.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8f7e7d365344037fbd9dd163fb60de3a2b5a02feb34592a665bb100478a03a5
+size 1649839
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000056.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000056.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4e609b2053b4ccb7f73526429ad108f4dc4780cd
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000056.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34ec08d3caef298a916d3a0502ca4dbc4baad2b7e8fdd8e3e82d84bdfafc2cd9
+size 1622756
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000057.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000057.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..fcc9298d4605db1ea1cd4b090a368a429662cba0
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/data/chunk-000/episode_000057.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62186bc8fcc82be30d3c36b13d7a10c8a001e056c62a24d355fbf42efe3b008b
+size 1704310
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..29752bb7face1df30cce3978d87d1e8af9a65c70
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl
@@ -0,0 +1,58 @@
+{"source_uid": "e16bec7b9a1491c2", "num_frames": 1656, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 195, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 196, "end_step": 273, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 321, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 322, "end_step": 438, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 579, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 639, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 651, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 652, "end_step": 684, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 720, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 774, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 789, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 816, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 843, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 844, "end_step": 969, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 970, "end_step": 1107, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1176, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1177, "end_step": 1254, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1255, "end_step": 1296, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1297, "end_step": 1362, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1363, "end_step": 1476, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1477, "end_step": 1593, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 195, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 196, "end_step": 273, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 321, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 322, "end_step": 438, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 579, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 639, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 651, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 652, "end_step": 684, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 720, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 774, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 789, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 816, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 843, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 844, "end_step": 969, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 970, "end_step": 1107, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1176, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1177, "end_step": 1254, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1255, "end_step": 1296, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1297, "end_step": 1362, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1363, "end_step": 1476, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1477, "end_step": 1593, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_28_10_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 2, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "67e078a861c8447a", "num_frames": 1512, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 315, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 316, "end_step": 429, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 430, "end_step": 561, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 562, "end_step": 627, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 639, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 663, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 664, "end_step": 705, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 804, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 834, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 858, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 885, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 993, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 994, "end_step": 1128, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1191, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1192, "end_step": 1227, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1228, "end_step": 1263, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1264, "end_step": 1323, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1324, "end_step": 1347, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1348, "end_step": 1446, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 315, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 316, "end_step": 429, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 430, "end_step": 561, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 562, "end_step": 627, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 639, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 663, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 664, "end_step": 705, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 804, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 834, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 858, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 885, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 993, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 994, "end_step": 1128, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1191, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1192, "end_step": 1227, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1228, "end_step": 1263, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1264, "end_step": 1323, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1324, "end_step": 1347, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1348, "end_step": 1446, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_29_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 3, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
+{"source_uid": "6b8d87f21227d7b1", "num_frames": 1783, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 270, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 420, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 654, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 726, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 735, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 765, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 789, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 933, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 993, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 994, "end_step": 1020, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 1021, "end_step": 1059, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 1060, "end_step": 1167, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1302, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1303, "end_step": 1386, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1387, "end_step": 1422, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1423, "end_step": 1506, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1507, "end_step": 1593, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1594, "end_step": 1623, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1624, "end_step": 1704, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 270, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 420, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 654, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 726, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 735, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 765, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 789, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 933, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 993, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 994, "end_step": 1020, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 1021, "end_step": 1059, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 1060, "end_step": 1167, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1302, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1303, "end_step": 1386, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1387, "end_step": 1422, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1423, "end_step": 1506, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1507, "end_step": 1593, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1594, "end_step": 1623, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1624, "end_step": 1704, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_30_22_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 4, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
+{"source_uid": "3412a30c22bcdf43", "num_frames": 1664, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 306, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 342, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 477, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 660, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 717, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 732, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 759, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 789, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 897, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 918, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 951, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 975, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 976, "end_step": 1071, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1072, "end_step": 1221, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1272, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1350, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1398, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1473, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1474, "end_step": 1491, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1492, "end_step": 1578, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 306, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 342, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 477, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 660, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 717, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 732, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 759, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 789, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 897, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 918, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 951, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 975, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 976, "end_step": 1071, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1072, "end_step": 1221, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1272, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1350, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1398, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1473, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1474, "end_step": 1491, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1492, "end_step": 1578, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_32_06_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 5, "v40_language_source": "previous_published_lerobot", "episode_index": 3}
+{"source_uid": "cc2f63a2595de044", "num_frames": 1603, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 273, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 330, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 477, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 633, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 681, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 693, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 717, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 741, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 831, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 876, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 897, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 924, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1035, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1170, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1171, "end_step": 1224, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1257, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1350, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1416, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1434, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1435, "end_step": 1530, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 273, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 330, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 477, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 633, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 681, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 693, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 717, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 741, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 831, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 876, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 897, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 924, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1035, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1170, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1171, "end_step": 1224, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1257, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1350, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1416, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1434, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1435, "end_step": 1530, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_34_02_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 7, "v40_language_source": "previous_published_lerobot", "episode_index": 4}
+{"source_uid": "c42f28b00ddab04a", "num_frames": 1711, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 279, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 345, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 346, "end_step": 456, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 630, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 687, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 688, "end_step": 702, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 738, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 774, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 870, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 915, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 936, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 966, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1062, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1212, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1213, "end_step": 1272, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1365, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1366, "end_step": 1395, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1396, "end_step": 1464, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1465, "end_step": 1518, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1519, "end_step": 1626, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 279, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 345, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 346, "end_step": 456, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 630, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 687, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 688, "end_step": 702, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 738, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 774, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 870, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 915, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 936, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 966, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1062, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1212, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1213, "end_step": 1272, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1365, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1366, "end_step": 1395, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1396, "end_step": 1464, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1465, "end_step": 1518, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1519, "end_step": 1626, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_35_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 8, "v40_language_source": "previous_published_lerobot", "episode_index": 5}
+{"source_uid": "e0ca5d2df0d59c88", "num_frames": 1496, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 288, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 387, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 388, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 591, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 612, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 630, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 660, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 789, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 831, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 957, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 958, "end_step": 1083, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1137, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1173, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1174, "end_step": 1248, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1249, "end_step": 1326, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1327, "end_step": 1347, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1348, "end_step": 1422, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 288, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 387, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 388, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 591, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 612, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 630, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 660, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 789, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 831, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 957, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 958, "end_step": 1083, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1137, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1173, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1174, "end_step": 1248, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1249, "end_step": 1326, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1327, "end_step": 1347, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1348, "end_step": 1422, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_36_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 6}
+{"source_uid": "a13a4ab6683a8ab8", "num_frames": 1467, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 270, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 396, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 582, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 624, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 645, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 646, "end_step": 738, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 762, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 780, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 801, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 802, "end_step": 927, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 928, "end_step": 1062, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1113, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1114, "end_step": 1167, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1224, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1275, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1276, "end_step": 1314, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1315, "end_step": 1392, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 270, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 396, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 582, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 624, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 645, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 646, "end_step": 738, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 762, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 780, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 801, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 802, "end_step": 927, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 928, "end_step": 1062, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1113, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1114, "end_step": 1167, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1224, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1275, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1276, "end_step": 1314, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1315, "end_step": 1392, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_37_03_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 10, "v40_language_source": "previous_published_lerobot", "episode_index": 7}
+{"source_uid": "ba95b158c2cf9159", "num_frames": 1494, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 261, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 414, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 543, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 544, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 594, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 618, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 720, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 738, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 759, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 780, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 909, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 910, "end_step": 1038, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1039, "end_step": 1092, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1143, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1144, "end_step": 1194, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1257, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1419, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 261, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 414, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 543, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 544, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 594, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 618, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 720, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 738, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 759, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 780, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 909, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 910, "end_step": 1038, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1039, "end_step": 1092, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1143, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1144, "end_step": 1194, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1257, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1419, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_40_22_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 12, "v40_language_source": "previous_published_lerobot", "episode_index": 8}
+{"source_uid": "a85023e1a353b7e1", "num_frames": 1652, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 258, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 390, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 504, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 678, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 741, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 759, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 783, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 807, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 808, "end_step": 906, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 933, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 963, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 964, "end_step": 990, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1086, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1257, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1326, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1327, "end_step": 1353, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1354, "end_step": 1401, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1402, "end_step": 1458, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1459, "end_step": 1503, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1504, "end_step": 1581, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 258, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 390, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 504, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 678, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 741, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 759, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 783, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 807, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 808, "end_step": 906, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 933, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 963, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 964, "end_step": 990, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1086, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1257, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1326, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1327, "end_step": 1353, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1354, "end_step": 1401, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1402, "end_step": 1458, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1459, "end_step": 1503, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1504, "end_step": 1581, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_41_15_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 13, "v40_language_source": "previous_published_lerobot", "episode_index": 9}
+{"source_uid": "1976ecab84c4be20", "num_frames": 1526, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 201, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 202, "end_step": 294, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 330, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 432, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 603, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 666, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 681, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 708, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 741, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 837, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 838, "end_step": 864, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 885, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 909, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 910, "end_step": 1026, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1128, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1188, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1245, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1246, "end_step": 1281, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1282, "end_step": 1338, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1339, "end_step": 1371, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1458, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 201, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 202, "end_step": 294, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 330, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 432, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 603, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 666, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 681, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 708, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 741, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 837, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 838, "end_step": 864, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 885, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 909, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 910, "end_step": 1026, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1128, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1188, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1245, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1246, "end_step": 1281, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1282, "end_step": 1338, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1339, "end_step": 1371, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1458, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_44_19_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 14, "v40_language_source": "previous_published_lerobot", "episode_index": 10}
+{"source_uid": "df878959be9ec3be", "num_frames": 1645, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 300, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 417, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 418, "end_step": 576, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 627, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 639, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 660, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 696, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 792, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 831, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 858, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 891, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1014, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1015, "end_step": 1149, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1206, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1207, "end_step": 1287, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1288, "end_step": 1371, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1458, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1459, "end_step": 1518, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1519, "end_step": 1575, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 300, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 417, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 418, "end_step": 576, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 627, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 639, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 660, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 696, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 792, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 831, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 858, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 891, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1014, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1015, "end_step": 1149, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1206, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1207, "end_step": 1287, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1288, "end_step": 1371, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1458, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1459, "end_step": 1518, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1519, "end_step": 1575, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_45_15_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 15, "v40_language_source": "previous_published_lerobot", "episode_index": 11}
+{"source_uid": "3934e21591c58d0c", "num_frames": 1510, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 288, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 318, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 420, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 588, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 615, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 636, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 756, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 783, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 831, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 951, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 1089, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1137, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1188, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1263, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1264, "end_step": 1323, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1324, "end_step": 1386, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1387, "end_step": 1437, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 288, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 318, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 420, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 588, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 615, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 636, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 756, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 783, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 831, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 951, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 1089, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1137, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1188, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1263, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1264, "end_step": 1323, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1324, "end_step": 1386, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1387, "end_step": 1437, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_46_12_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 16, "v40_language_source": "previous_published_lerobot", "episode_index": 12}
+{"source_uid": "736fd81bebb999ed", "num_frames": 1569, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 258, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 291, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 411, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 594, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 639, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 648, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 669, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 670, "end_step": 705, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 816, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 837, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 838, "end_step": 861, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 862, "end_step": 888, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 990, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1170, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1171, "end_step": 1218, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1293, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1294, "end_step": 1323, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1324, "end_step": 1386, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1387, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1491, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 258, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 291, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 411, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 594, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 639, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 648, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 669, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 670, "end_step": 705, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 816, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 837, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 838, "end_step": 861, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 862, "end_step": 888, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 990, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1170, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1171, "end_step": 1218, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1293, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1294, "end_step": 1323, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1324, "end_step": 1386, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1387, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1491, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_47_06_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 17, "v40_language_source": "previous_published_lerobot", "episode_index": 13}
+{"source_uid": "e1c41370ddce3c0a", "num_frames": 1483, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 285, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 390, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 543, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 544, "end_step": 582, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 594, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 621, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 652, "end_step": 735, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 768, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 792, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 825, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 924, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1077, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1128, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1191, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1192, "end_step": 1227, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1228, "end_step": 1293, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1294, "end_step": 1353, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1354, "end_step": 1407, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 285, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 390, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 543, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 544, "end_step": 582, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 594, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 621, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 652, "end_step": 735, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 768, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 792, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 825, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 924, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1077, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1128, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1191, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1192, "end_step": 1227, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1228, "end_step": 1293, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1294, "end_step": 1353, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1354, "end_step": 1407, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_48_54_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 19, "v40_language_source": "previous_published_lerobot", "episode_index": 14}
+{"source_uid": "3b157c8c695d9377", "num_frames": 1505, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 411, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 624, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 657, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 658, "end_step": 732, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 765, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 792, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 819, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 915, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1035, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1101, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1137, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1200, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1201, "end_step": 1269, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1270, "end_step": 1356, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1357, "end_step": 1434, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 411, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 624, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 657, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 658, "end_step": 732, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 765, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 792, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 819, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 915, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1035, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1101, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1137, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1200, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1201, "end_step": 1269, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1270, "end_step": 1356, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1357, "end_step": 1434, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_49_46_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 20, "v40_language_source": "previous_published_lerobot", "episode_index": 15}
+{"source_uid": "9c95902d0ab5f42a", "num_frames": 1568, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 258, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 327, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 328, "end_step": 465, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 466, "end_step": 633, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 696, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 711, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 735, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 768, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 837, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 838, "end_step": 873, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 874, "end_step": 903, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 904, "end_step": 933, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 1053, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1054, "end_step": 1191, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1192, "end_step": 1251, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1252, "end_step": 1278, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1279, "end_step": 1320, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1321, "end_step": 1371, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1497, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 258, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 327, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 328, "end_step": 465, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 466, "end_step": 633, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 696, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 711, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 735, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 768, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 837, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 838, "end_step": 873, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 874, "end_step": 903, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 904, "end_step": 933, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 1053, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1054, "end_step": 1191, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1192, "end_step": 1251, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1252, "end_step": 1278, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1279, "end_step": 1320, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1321, "end_step": 1371, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1497, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_50_40_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 21, "v40_language_source": "previous_published_lerobot", "episode_index": 16}
+{"source_uid": "67839f3e388aed1e", "num_frames": 1622, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 291, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 405, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 406, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 627, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 657, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 658, "end_step": 753, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 774, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 798, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 825, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 1041, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1155, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1212, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1213, "end_step": 1296, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1297, "end_step": 1353, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1354, "end_step": 1443, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1444, "end_step": 1476, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1477, "end_step": 1539, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 291, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 405, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 406, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 627, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 657, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 658, "end_step": 753, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 774, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 798, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 825, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 1041, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1155, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1212, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1213, "end_step": 1296, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1297, "end_step": 1353, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1354, "end_step": 1443, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1444, "end_step": 1476, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1477, "end_step": 1539, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_51_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 22, "v40_language_source": "previous_published_lerobot", "episode_index": 17}
+{"source_uid": "0e28f6172300368e", "num_frames": 1487, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 264, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 381, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 382, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 600, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 618, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 774, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 795, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 822, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 951, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 1077, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1134, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1135, "end_step": 1215, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1216, "end_step": 1245, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1246, "end_step": 1308, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1309, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1422, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 264, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 381, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 382, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 600, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 618, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 774, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 795, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 822, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 951, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 1077, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1134, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1135, "end_step": 1215, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1216, "end_step": 1245, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1246, "end_step": 1308, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1309, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1422, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_52_54_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 23, "v40_language_source": "previous_published_lerobot", "episode_index": 18}
+{"source_uid": "f9c12a895212102f", "num_frames": 1431, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 261, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 390, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 528, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 570, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 582, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 600, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 636, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 735, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 753, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 786, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 819, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 939, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 940, "end_step": 1053, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1054, "end_step": 1104, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1194, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1221, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1269, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1270, "end_step": 1305, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1356, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 261, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 390, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 528, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 570, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 582, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 600, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 636, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 735, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 753, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 786, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 819, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 939, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 940, "end_step": 1053, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1054, "end_step": 1104, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1194, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1221, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1269, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1270, "end_step": 1305, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1356, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_54_00_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 24, "v40_language_source": "previous_published_lerobot", "episode_index": 19}
+{"source_uid": "d163e9c8822c3e53", "num_frames": 1416, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 372, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 510, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 558, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 564, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 588, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 615, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 702, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 756, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 774, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 801, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 802, "end_step": 906, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1035, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1086, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1161, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1162, "end_step": 1188, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1254, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1255, "end_step": 1284, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1347, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 372, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 510, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 558, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 564, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 588, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 615, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 702, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 756, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 774, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 801, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 802, "end_step": 906, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1035, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1086, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1161, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1162, "end_step": 1188, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1254, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1255, "end_step": 1284, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1347, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_54_50_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 25, "v40_language_source": "previous_published_lerobot", "episode_index": 20}
+{"source_uid": "866c9c51ebcb6009", "num_frames": 1407, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 294, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 396, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 531, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 532, "end_step": 591, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 603, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 627, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 657, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 658, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 786, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 834, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 951, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 1068, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1069, "end_step": 1125, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1155, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1200, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1201, "end_step": 1257, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1287, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1288, "end_step": 1338, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 294, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 396, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 531, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 532, "end_step": 591, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 603, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 627, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 657, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 658, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 786, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 834, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 951, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 1068, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1069, "end_step": 1125, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1155, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1200, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1201, "end_step": 1257, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1287, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1288, "end_step": 1338, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_55_39_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 26, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
+{"source_uid": "d6cdf6336fa161d5", "num_frames": 1400, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 384, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 507, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 558, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 567, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 591, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 687, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 688, "end_step": 726, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 753, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 780, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 903, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 904, "end_step": 1026, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1083, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1122, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1123, "end_step": 1167, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1227, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1228, "end_step": 1251, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1252, "end_step": 1320, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 384, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 507, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 558, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 567, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 591, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 687, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 688, "end_step": 726, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 753, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 780, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 903, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 904, "end_step": 1026, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1083, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1122, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1123, "end_step": 1167, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1227, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1228, "end_step": 1251, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1252, "end_step": 1320, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_56_29_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 27, "v40_language_source": "previous_published_lerobot", "episode_index": 22}
+{"source_uid": "b33f695ea55c1565", "num_frames": 1537, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 243, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 244, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 387, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 388, "end_step": 522, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 576, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 591, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 615, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 648, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 783, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 810, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 840, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 954, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 1107, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1161, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1162, "end_step": 1197, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1198, "end_step": 1284, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1350, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1377, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1378, "end_step": 1458, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 243, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 244, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 387, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 388, "end_step": 522, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 576, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 591, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 615, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 648, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 783, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 810, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 840, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 954, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 1107, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1161, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1162, "end_step": 1197, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1198, "end_step": 1284, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1350, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1377, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1378, "end_step": 1458, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_58_08_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 29, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
+{"source_uid": "9ffb866fd72d0a1b", "num_frames": 1374, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 246, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 273, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 366, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 507, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 573, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 574, "end_step": 579, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 606, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 636, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 735, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 756, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 777, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 778, "end_step": 798, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 912, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 1026, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1080, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1107, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1158, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1159, "end_step": 1206, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1207, "end_step": 1230, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1231, "end_step": 1299, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 246, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 273, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 366, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 507, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 573, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 574, "end_step": 579, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 606, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 636, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 735, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 756, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 777, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 778, "end_step": 798, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 912, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 1026, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1080, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1107, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1158, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1159, "end_step": 1206, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1207, "end_step": 1230, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1231, "end_step": 1299, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_02_31_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 31, "v40_language_source": "previous_published_lerobot", "episode_index": 24}
+{"source_uid": "b717122ad8db7128", "num_frames": 1411, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 249, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 250, "end_step": 276, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 366, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 486, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 531, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 532, "end_step": 540, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 567, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 597, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 672, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 723, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 724, "end_step": 744, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 771, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 772, "end_step": 891, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1032, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1089, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1143, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1144, "end_step": 1182, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1183, "end_step": 1233, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1234, "end_step": 1263, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1264, "end_step": 1332, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 249, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 250, "end_step": 276, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 366, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 486, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 531, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 532, "end_step": 540, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 567, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 597, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 672, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 723, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 724, "end_step": 744, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 771, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 772, "end_step": 891, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1032, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1089, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1143, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1144, "end_step": 1182, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1183, "end_step": 1233, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1234, "end_step": 1263, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1264, "end_step": 1332, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_03_19_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 32, "v40_language_source": "previous_published_lerobot", "episode_index": 25}
+{"source_uid": "ead2264e2196b9b2", "num_frames": 1400, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 261, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 294, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 393, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 394, "end_step": 513, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 564, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 579, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 594, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 624, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 717, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 765, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 786, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 810, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 909, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 910, "end_step": 1029, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1104, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1155, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1209, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1210, "end_step": 1239, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1240, "end_step": 1320, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 261, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 294, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 393, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 394, "end_step": 513, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 564, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 579, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 594, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 624, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 717, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 765, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 786, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 810, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 909, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 910, "end_step": 1029, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1104, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1155, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1209, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1210, "end_step": 1239, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1240, "end_step": 1320, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_04_08_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 33, "v40_language_source": "previous_published_lerobot", "episode_index": 26}
+{"source_uid": "776fb99182f62c75", "num_frames": 1590, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 378, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 498, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 540, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 561, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 562, "end_step": 585, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 612, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 705, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 738, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 756, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 783, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 906, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1050, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1051, "end_step": 1140, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1141, "end_step": 1224, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1305, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1380, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1381, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1530, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 378, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 498, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 540, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 561, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 562, "end_step": 585, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 612, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 705, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 738, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 756, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 783, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 906, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1050, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1051, "end_step": 1140, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1141, "end_step": 1224, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1305, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1380, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1381, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1530, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_04_56_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 34, "v40_language_source": "previous_published_lerobot", "episode_index": 27}
+{"source_uid": "ac4189dd97a7b83c", "num_frames": 1561, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 237, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 399, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 540, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 603, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 615, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 639, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 666, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 762, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 783, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 807, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 808, "end_step": 840, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 954, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 1068, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1069, "end_step": 1152, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1153, "end_step": 1233, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1234, "end_step": 1311, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1312, "end_step": 1383, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1384, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1476, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 237, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 399, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 540, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 603, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 615, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 639, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 666, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 762, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 783, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 807, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 808, "end_step": 840, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 954, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 1068, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1069, "end_step": 1152, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1153, "end_step": 1233, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1234, "end_step": 1311, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1312, "end_step": 1383, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1384, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1476, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_05_53_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 35, "v40_language_source": "previous_published_lerobot", "episode_index": 28}
+{"source_uid": "d6158031f4240c28", "num_frames": 1385, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 225, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 226, "end_step": 297, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 298, "end_step": 420, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 579, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 585, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 609, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 610, "end_step": 639, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 717, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 738, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 768, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 795, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 915, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1029, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1077, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1092, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1167, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1224, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1257, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1314, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 225, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 226, "end_step": 297, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 298, "end_step": 420, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 579, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 585, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 609, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 610, "end_step": 639, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 717, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 738, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 768, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 795, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 915, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1029, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1077, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1092, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1167, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1224, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1257, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1314, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_07_54_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 37, "v40_language_source": "previous_published_lerobot", "episode_index": 29}
+{"source_uid": "4cd85532532bb990", "num_frames": 1423, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 141, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 142, "end_step": 228, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 282, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 372, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 510, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 567, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 579, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 597, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 624, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 729, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 730, "end_step": 756, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 780, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 810, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 924, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1041, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1101, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1155, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1200, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1201, "end_step": 1257, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1290, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1291, "end_step": 1350, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 141, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 142, "end_step": 228, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 282, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 372, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 510, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 567, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 579, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 597, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 624, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 729, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 730, "end_step": 756, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 780, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 810, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 924, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1041, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1101, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1155, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1200, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1201, "end_step": 1257, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1290, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1291, "end_step": 1350, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_08_43_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 38, "v40_language_source": "previous_published_lerobot", "episode_index": 30}
+{"source_uid": "8cf54d0e5e9f7679", "num_frames": 1688, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 222, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 312, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 378, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 495, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 496, "end_step": 630, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 684, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 696, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 726, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 753, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 828, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 843, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 844, "end_step": 867, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 868, "end_step": 891, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1017, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1018, "end_step": 1125, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1197, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1198, "end_step": 1239, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1240, "end_step": 1404, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1405, "end_step": 1491, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1492, "end_step": 1548, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1549, "end_step": 1611, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 222, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 312, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 378, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 495, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 496, "end_step": 630, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 684, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 696, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 726, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 753, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 828, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 843, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 844, "end_step": 867, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 868, "end_step": 891, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1017, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1018, "end_step": 1125, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1197, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1198, "end_step": 1239, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1240, "end_step": 1404, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1405, "end_step": 1491, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1492, "end_step": 1548, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1549, "end_step": 1611, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_10_06_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 39, "v40_language_source": "previous_published_lerobot", "episode_index": 31}
+{"source_uid": "d9a67cfab2adc5c3", "num_frames": 1282, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 228, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 276, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 369, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 480, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 522, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 534, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 558, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 588, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 663, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 664, "end_step": 681, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 705, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 729, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 730, "end_step": 834, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 930, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 972, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 973, "end_step": 1041, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1077, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1122, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1123, "end_step": 1146, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1147, "end_step": 1209, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 228, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 276, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 369, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 480, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 522, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 534, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 558, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 588, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 663, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 664, "end_step": 681, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 705, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 729, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 730, "end_step": 834, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 930, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 972, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 973, "end_step": 1041, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1077, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1122, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1123, "end_step": 1146, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1147, "end_step": 1209, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_11_57_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 41, "v40_language_source": "previous_published_lerobot", "episode_index": 32}
+{"source_uid": "31f4119a52f0ea82", "num_frames": 1336, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 198, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 270, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 369, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 510, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 552, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 570, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 585, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 606, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 693, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 717, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 744, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 768, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 888, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 996, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 997, "end_step": 1044, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1045, "end_step": 1083, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1125, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1176, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1177, "end_step": 1218, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1263, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 198, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 270, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 369, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 510, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 552, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 570, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 585, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 606, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 693, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 717, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 744, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 768, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 888, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 996, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 997, "end_step": 1044, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1045, "end_step": 1083, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1125, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1176, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1177, "end_step": 1218, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1263, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_12_41_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 42, "v40_language_source": "previous_published_lerobot", "episode_index": 33}
+{"source_uid": "85f9550a043eb752", "num_frames": 1486, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 258, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 354, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 477, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 528, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 537, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 558, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 585, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 672, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 714, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 738, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 768, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 912, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 1044, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1045, "end_step": 1098, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1099, "end_step": 1185, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1186, "end_step": 1221, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1305, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1410, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 258, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 354, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 477, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 528, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 537, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 558, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 585, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 672, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 714, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 738, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 768, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 912, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 1044, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1045, "end_step": 1098, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1099, "end_step": 1185, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1186, "end_step": 1221, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1305, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1410, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_13_28_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 43, "v40_language_source": "previous_published_lerobot", "episode_index": 34}
+{"source_uid": "e97cee5e19a47a8c", "num_frames": 1444, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 237, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 258, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 360, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 507, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 552, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 567, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 585, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 621, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 696, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 726, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 753, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 780, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 900, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 1029, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1134, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1135, "end_step": 1182, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1183, "end_step": 1236, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1237, "end_step": 1284, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1368, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 237, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 258, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 360, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 507, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 552, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 567, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 585, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 621, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 696, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 726, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 753, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 780, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 900, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 1029, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1134, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1135, "end_step": 1182, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1183, "end_step": 1236, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1237, "end_step": 1284, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1368, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_14_21_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 44, "v40_language_source": "previous_published_lerobot", "episode_index": 35}
+{"source_uid": "790642bab72db9c3", "num_frames": 2370, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 154, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 248, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 284, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 380, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 381, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 584, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 585, "end_step": 602, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 603, "end_step": 634, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 652, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 653, "end_step": 740, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 874, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 875, "end_step": 906, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 936, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1054, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1055, "end_step": 1172, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1173, "end_step": 1230, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1231, "end_step": 2090, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 2091, "end_step": 2144, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 2145, "end_step": 2204, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 2205, "end_step": 2236, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 2237, "end_step": 2302, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 154, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 248, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 284, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 380, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 381, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 584, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 585, "end_step": 602, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 603, "end_step": 634, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 652, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 653, "end_step": 740, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 874, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 875, "end_step": 906, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 936, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1054, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1055, "end_step": 1172, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1173, "end_step": 1230, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1231, "end_step": 2090, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 2091, "end_step": 2144, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 2145, "end_step": 2204, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 2205, "end_step": 2236, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 2237, "end_step": 2302, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_15_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 45, "v40_language_source": "previous_published_lerobot", "episode_index": 36}
+{"source_uid": "cbd31bbb0ec57d5c", "num_frames": 1472, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 148, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 149, "end_step": 266, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 278, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 279, "end_step": 374, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 375, "end_step": 522, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 576, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 608, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 650, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 678, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 744, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 776, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 777, "end_step": 818, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 819, "end_step": 838, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 839, "end_step": 952, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 953, "end_step": 1082, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 1126, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1127, "end_step": 1198, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1199, "end_step": 1246, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1247, "end_step": 1294, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1295, "end_step": 1332, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1406, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 148, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 149, "end_step": 266, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 278, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 279, "end_step": 374, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 375, "end_step": 522, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 576, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 608, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 650, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 678, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 744, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 776, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 777, "end_step": 818, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 819, "end_step": 838, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 839, "end_step": 952, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 953, "end_step": 1082, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 1126, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1127, "end_step": 1198, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1199, "end_step": 1246, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1247, "end_step": 1294, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1295, "end_step": 1332, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1406, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_17_07_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 46, "v40_language_source": "previous_published_lerobot", "episode_index": 37}
+{"source_uid": "0961467e8fa38aaf", "num_frames": 1584, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 158, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 159, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 286, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 287, "end_step": 382, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 383, "end_step": 562, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 616, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 617, "end_step": 642, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 666, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 682, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 683, "end_step": 756, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 870, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 902, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 924, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1022, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1023, "end_step": 1144, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1145, "end_step": 1194, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1262, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1263, "end_step": 1302, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1303, "end_step": 1370, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1371, "end_step": 1458, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1459, "end_step": 1520, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 158, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 159, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 286, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 287, "end_step": 382, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 383, "end_step": 562, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 616, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 617, "end_step": 642, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 666, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 682, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 683, "end_step": 756, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 870, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 902, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 924, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1022, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1023, "end_step": 1144, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1145, "end_step": 1194, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1262, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1263, "end_step": 1302, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1303, "end_step": 1370, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1371, "end_step": 1458, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1459, "end_step": 1520, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_18_00_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 47, "v40_language_source": "previous_published_lerobot", "episode_index": 38}
+{"source_uid": "400d5a5db9fd2fd8", "num_frames": 1800, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 284, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 312, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 430, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 596, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 597, "end_step": 640, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 641, "end_step": 658, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 659, "end_step": 690, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 710, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 711, "end_step": 798, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 826, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 827, "end_step": 862, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 863, "end_step": 894, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 998, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 999, "end_step": 1226, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1227, "end_step": 1272, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1400, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1401, "end_step": 1440, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1441, "end_step": 1534, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1535, "end_step": 1644, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1645, "end_step": 1720, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 284, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 312, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 430, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 596, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 597, "end_step": 640, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 641, "end_step": 658, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 659, "end_step": 690, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 710, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 711, "end_step": 798, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 826, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 827, "end_step": 862, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 863, "end_step": 894, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 998, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 999, "end_step": 1226, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1227, "end_step": 1272, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1400, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1401, "end_step": 1440, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1441, "end_step": 1534, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1535, "end_step": 1644, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1645, "end_step": 1720, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_19_02_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 48, "v40_language_source": "previous_published_lerobot", "episode_index": 39}
+{"source_uid": "08fedbc174c8951c", "num_frames": 1475, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 176, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 177, "end_step": 292, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 293, "end_step": 310, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 311, "end_step": 434, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 435, "end_step": 588, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 632, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 633, "end_step": 648, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 672, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 694, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 695, "end_step": 780, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 816, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 860, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 861, "end_step": 876, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 974, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 975, "end_step": 1090, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1091, "end_step": 1138, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1139, "end_step": 1154, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1155, "end_step": 1214, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1215, "end_step": 1294, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1295, "end_step": 1322, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1323, "end_step": 1408, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 176, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 177, "end_step": 292, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 293, "end_step": 310, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 311, "end_step": 434, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 435, "end_step": 588, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 632, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 633, "end_step": 648, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 672, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 694, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 695, "end_step": 780, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 816, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 860, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 861, "end_step": 876, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 974, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 975, "end_step": 1090, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1091, "end_step": 1138, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1139, "end_step": 1154, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1155, "end_step": 1214, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1215, "end_step": 1294, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1295, "end_step": 1322, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1323, "end_step": 1408, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_20_39_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 49, "v40_language_source": "previous_published_lerobot", "episode_index": 40}
+{"source_uid": "0ec336a876228e52", "num_frames": 1611, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 250, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 350, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 351, "end_step": 376, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 377, "end_step": 480, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 614, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 615, "end_step": 650, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 670, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 671, "end_step": 706, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 707, "end_step": 718, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 719, "end_step": 802, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 803, "end_step": 874, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 875, "end_step": 902, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 914, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 915, "end_step": 1036, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1037, "end_step": 1182, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1183, "end_step": 1226, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1227, "end_step": 1304, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1305, "end_step": 1350, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1416, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1466, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1467, "end_step": 1534, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 250, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 350, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 351, "end_step": 376, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 377, "end_step": 480, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 614, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 615, "end_step": 650, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 670, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 671, "end_step": 706, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 707, "end_step": 718, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 719, "end_step": 802, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 803, "end_step": 874, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 875, "end_step": 902, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 914, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 915, "end_step": 1036, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1037, "end_step": 1182, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1183, "end_step": 1226, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1227, "end_step": 1304, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1305, "end_step": 1350, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1416, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1466, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1467, "end_step": 1534, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_21_33_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 50, "v40_language_source": "previous_published_lerobot", "episode_index": 41}
+{"source_uid": "3dcf9879578a248a", "num_frames": 2043, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 282, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 336, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 442, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 443, "end_step": 628, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 629, "end_step": 697, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 698, "end_step": 703, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 704, "end_step": 721, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 722, "end_step": 760, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 859, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 860, "end_step": 889, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 890, "end_step": 913, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 914, "end_step": 955, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 956, "end_step": 1075, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1076, "end_step": 1246, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1247, "end_step": 1306, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1307, "end_step": 1363, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1364, "end_step": 1813, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1814, "end_step": 1858, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1859, "end_step": 1894, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1895, "end_step": 1963, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 282, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 336, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 442, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 443, "end_step": 628, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 629, "end_step": 697, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 698, "end_step": 703, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 704, "end_step": 721, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 722, "end_step": 760, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 859, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 860, "end_step": 889, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 890, "end_step": 913, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 914, "end_step": 955, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 956, "end_step": 1075, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1076, "end_step": 1246, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1247, "end_step": 1306, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1307, "end_step": 1363, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1364, "end_step": 1813, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1814, "end_step": 1858, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1859, "end_step": 1894, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1895, "end_step": 1963, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_23_31_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 52, "v40_language_source": "previous_published_lerobot", "episode_index": 42}
+{"source_uid": "828fc34effb90c27", "num_frames": 1697, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 158, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 159, "end_step": 266, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 292, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 293, "end_step": 398, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 399, "end_step": 524, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 525, "end_step": 586, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 587, "end_step": 612, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 638, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 639, "end_step": 664, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 665, "end_step": 744, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 854, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 855, "end_step": 886, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 887, "end_step": 916, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 917, "end_step": 1042, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1043, "end_step": 1186, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1187, "end_step": 1236, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1237, "end_step": 1278, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1279, "end_step": 1342, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1343, "end_step": 1460, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1461, "end_step": 1514, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1515, "end_step": 1632, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 158, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 159, "end_step": 266, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 292, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 293, "end_step": 398, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 399, "end_step": 524, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 525, "end_step": 586, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 587, "end_step": 612, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 638, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 639, "end_step": 664, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 665, "end_step": 744, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 854, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 855, "end_step": 886, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 887, "end_step": 916, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 917, "end_step": 1042, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1043, "end_step": 1186, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1187, "end_step": 1236, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1237, "end_step": 1278, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1279, "end_step": 1342, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1343, "end_step": 1460, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1461, "end_step": 1514, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1515, "end_step": 1632, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_24_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 53, "v40_language_source": "previous_published_lerobot", "episode_index": 43}
+{"source_uid": "c83e074546ae16ef", "num_frames": 1659, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 282, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 338, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 339, "end_step": 478, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 479, "end_step": 608, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 652, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 653, "end_step": 674, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 675, "end_step": 700, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 730, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 731, "end_step": 806, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 807, "end_step": 836, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 882, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 910, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1010, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1011, "end_step": 1142, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1143, "end_step": 1186, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1187, "end_step": 1250, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1251, "end_step": 1294, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1295, "end_step": 1396, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1397, "end_step": 1446, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1447, "end_step": 1580, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 282, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 338, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 339, "end_step": 478, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 479, "end_step": 608, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 652, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 653, "end_step": 674, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 675, "end_step": 700, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 730, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 731, "end_step": 806, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 807, "end_step": 836, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 882, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 910, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1010, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1011, "end_step": 1142, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1143, "end_step": 1186, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1187, "end_step": 1250, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1251, "end_step": 1294, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1295, "end_step": 1396, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1397, "end_step": 1446, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1447, "end_step": 1580, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_28_56_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 54, "v40_language_source": "previous_published_lerobot", "episode_index": 44}
+{"source_uid": "b7b425dd2b6004ee", "num_frames": 1586, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 290, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 308, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 309, "end_step": 430, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 570, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 608, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 632, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 633, "end_step": 662, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 680, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 681, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 778, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 779, "end_step": 800, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 801, "end_step": 814, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 815, "end_step": 910, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1032, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1082, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 1128, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1222, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1223, "end_step": 1338, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1339, "end_step": 1364, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1365, "end_step": 1522, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 290, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 308, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 309, "end_step": 430, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 570, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 608, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 632, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 633, "end_step": 662, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 680, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 681, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 778, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 779, "end_step": 800, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 801, "end_step": 814, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 815, "end_step": 910, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1032, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1082, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 1128, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1222, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1223, "end_step": 1338, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1339, "end_step": 1364, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1365, "end_step": 1522, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_29_54_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 55, "v40_language_source": "previous_published_lerobot", "episode_index": 45}
+{"source_uid": "5865ab77d8883238", "num_frames": 1553, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 148, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 149, "end_step": 254, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 374, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 375, "end_step": 528, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 568, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 569, "end_step": 662, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 700, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 726, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 792, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 836, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 864, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 888, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 1004, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1005, "end_step": 1148, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1149, "end_step": 1184, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1185, "end_step": 1210, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1211, "end_step": 1266, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1267, "end_step": 1352, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1353, "end_step": 1392, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1393, "end_step": 1478, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 148, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 149, "end_step": 254, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 374, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 375, "end_step": 528, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 568, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 569, "end_step": 662, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 700, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 726, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 792, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 836, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 864, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 888, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 1004, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1005, "end_step": 1148, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1149, "end_step": 1184, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1185, "end_step": 1210, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1211, "end_step": 1266, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1267, "end_step": 1352, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1353, "end_step": 1392, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1393, "end_step": 1478, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_30_49_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 56, "v40_language_source": "previous_published_lerobot", "episode_index": 46}
+{"source_uid": "1dca11eeb301f1ff", "num_frames": 1851, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 290, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 402, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 604, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 605, "end_step": 662, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 688, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 689, "end_step": 724, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 725, "end_step": 778, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 779, "end_step": 872, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 873, "end_step": 912, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 948, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 949, "end_step": 966, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1080, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1258, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1259, "end_step": 1308, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1309, "end_step": 1486, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1487, "end_step": 1588, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1589, "end_step": 1664, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1665, "end_step": 1706, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1707, "end_step": 1774, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 290, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 402, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 604, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 605, "end_step": 662, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 688, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 689, "end_step": 724, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 725, "end_step": 778, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 779, "end_step": 872, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 873, "end_step": 912, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 948, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 949, "end_step": 966, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1080, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1258, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1259, "end_step": 1308, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1309, "end_step": 1486, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1487, "end_step": 1588, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1589, "end_step": 1664, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1665, "end_step": 1706, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1707, "end_step": 1774, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_31_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 57, "v40_language_source": "previous_published_lerobot", "episode_index": 47}
+{"source_uid": "575b43b77a44b29d", "num_frames": 1730, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 288, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 314, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 315, "end_step": 428, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 429, "end_step": 588, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 634, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 654, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 686, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 687, "end_step": 714, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 814, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 815, "end_step": 842, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 843, "end_step": 880, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 906, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1032, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1332, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1378, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1379, "end_step": 1410, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1411, "end_step": 1454, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1455, "end_step": 1520, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1521, "end_step": 1574, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1575, "end_step": 1662, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 288, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 314, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 315, "end_step": 428, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 429, "end_step": 588, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 634, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 654, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 686, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 687, "end_step": 714, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 814, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 815, "end_step": 842, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 843, "end_step": 880, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 906, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1032, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1332, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1378, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1379, "end_step": 1410, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1411, "end_step": 1454, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1455, "end_step": 1520, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1521, "end_step": 1574, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1575, "end_step": 1662, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_33_57_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 59, "v40_language_source": "previous_published_lerobot", "episode_index": 48}
+{"source_uid": "aacc20e350e91a2e", "num_frames": 1614, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 274, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 275, "end_step": 360, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 486, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 634, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 684, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 692, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 693, "end_step": 712, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 713, "end_step": 736, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 737, "end_step": 828, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 856, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 857, "end_step": 882, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 902, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 1018, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1019, "end_step": 1194, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1242, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1310, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1311, "end_step": 1348, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1349, "end_step": 1418, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1419, "end_step": 1470, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1471, "end_step": 1540, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 274, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 275, "end_step": 360, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 486, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 634, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 684, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 692, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 693, "end_step": 712, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 713, "end_step": 736, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 737, "end_step": 828, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 856, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 857, "end_step": 882, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 902, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 1018, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1019, "end_step": 1194, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1242, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1310, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1311, "end_step": 1348, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1349, "end_step": 1418, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1419, "end_step": 1470, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1471, "end_step": 1540, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_34_59_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 60, "v40_language_source": "previous_published_lerobot", "episode_index": 49}
+{"source_uid": "4dac8f1bcb26a703", "num_frames": 1384, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 142, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 143, "end_step": 256, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 257, "end_step": 306, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 410, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 411, "end_step": 520, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 550, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 551, "end_step": 576, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 602, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 603, "end_step": 644, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 645, "end_step": 704, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 705, "end_step": 726, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 766, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 767, "end_step": 788, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 789, "end_step": 904, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 905, "end_step": 1016, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1017, "end_step": 1058, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1059, "end_step": 1092, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1146, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1147, "end_step": 1218, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1240, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1241, "end_step": 1318, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 142, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 143, "end_step": 256, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 257, "end_step": 306, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 410, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 411, "end_step": 520, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 550, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 551, "end_step": 576, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 602, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 603, "end_step": 644, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 645, "end_step": 704, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 705, "end_step": 726, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 766, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 767, "end_step": 788, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 789, "end_step": 904, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 905, "end_step": 1016, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1017, "end_step": 1058, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1059, "end_step": 1092, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1146, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1147, "end_step": 1218, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1240, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1241, "end_step": 1318, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_43_09_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 63, "v40_language_source": "previous_published_lerobot", "episode_index": 50}
+{"source_uid": "cb2a652f0cf6d06a", "num_frames": 1532, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 298, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 299, "end_step": 318, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 414, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 562, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 626, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 627, "end_step": 654, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 688, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 689, "end_step": 712, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 713, "end_step": 796, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 797, "end_step": 848, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 849, "end_step": 874, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 875, "end_step": 894, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 1002, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1003, "end_step": 1148, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1149, "end_step": 1220, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1221, "end_step": 1250, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1251, "end_step": 1280, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1281, "end_step": 1342, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1343, "end_step": 1376, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1377, "end_step": 1468, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 298, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 299, "end_step": 318, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 414, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 562, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 626, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 627, "end_step": 654, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 688, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 689, "end_step": 712, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 713, "end_step": 796, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 797, "end_step": 848, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 849, "end_step": 874, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 875, "end_step": 894, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 1002, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1003, "end_step": 1148, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1149, "end_step": 1220, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1221, "end_step": 1250, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1251, "end_step": 1280, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1281, "end_step": 1342, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1343, "end_step": 1376, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1377, "end_step": 1468, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_43_58_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 64, "v40_language_source": "previous_published_lerobot", "episode_index": 51}
+{"source_uid": "cabb2b7638520183", "num_frames": 1514, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 152, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 153, "end_step": 278, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 279, "end_step": 302, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 303, "end_step": 390, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 556, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 600, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 634, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 672, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 708, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 788, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 789, "end_step": 824, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 825, "end_step": 868, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 869, "end_step": 884, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 885, "end_step": 986, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 987, "end_step": 1104, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1156, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1157, "end_step": 1186, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1187, "end_step": 1238, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1239, "end_step": 1318, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1319, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1448, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 152, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 153, "end_step": 278, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 279, "end_step": 302, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 303, "end_step": 390, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 556, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 600, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 634, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 672, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 708, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 788, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 789, "end_step": 824, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 825, "end_step": 868, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 869, "end_step": 884, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 885, "end_step": 986, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 987, "end_step": 1104, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1156, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1157, "end_step": 1186, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1187, "end_step": 1238, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1239, "end_step": 1318, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1319, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1448, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_45_08_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 65, "v40_language_source": "previous_published_lerobot", "episode_index": 52}
+{"source_uid": "fc546403bdc07b20", "num_frames": 1492, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 154, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 272, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 273, "end_step": 366, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 518, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 519, "end_step": 558, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 568, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 569, "end_step": 590, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 620, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 621, "end_step": 700, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 772, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 773, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 818, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 819, "end_step": 932, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 933, "end_step": 1052, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1053, "end_step": 1090, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1091, "end_step": 1168, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1169, "end_step": 1208, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1209, "end_step": 1284, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1320, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1321, "end_step": 1424, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 154, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 272, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 273, "end_step": 366, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 518, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 519, "end_step": 558, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 568, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 569, "end_step": 590, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 620, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 621, "end_step": 700, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 772, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 773, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 818, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 819, "end_step": 932, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 933, "end_step": 1052, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1053, "end_step": 1090, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1091, "end_step": 1168, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1169, "end_step": 1208, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1209, "end_step": 1284, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1320, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1321, "end_step": 1424, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_46_58_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 67, "v40_language_source": "previous_published_lerobot", "episode_index": 53}
+{"source_uid": "6e24ec0e5e7b6880", "num_frames": 1371, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 152, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 153, "end_step": 242, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 243, "end_step": 260, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 261, "end_step": 350, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 351, "end_step": 504, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 544, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 545, "end_step": 556, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 580, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 581, "end_step": 614, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 615, "end_step": 672, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 720, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 746, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 747, "end_step": 760, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 876, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 992, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 993, "end_step": 1052, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1053, "end_step": 1104, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1132, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1133, "end_step": 1190, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1191, "end_step": 1232, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1233, "end_step": 1304, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 152, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 153, "end_step": 242, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 243, "end_step": 260, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 261, "end_step": 350, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 351, "end_step": 504, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 544, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 545, "end_step": 556, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 580, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 581, "end_step": 614, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 615, "end_step": 672, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 720, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 746, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 747, "end_step": 760, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 876, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 992, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 993, "end_step": 1052, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1053, "end_step": 1104, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1132, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1133, "end_step": 1190, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1191, "end_step": 1232, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1233, "end_step": 1304, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_47_50_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 68, "v40_language_source": "previous_published_lerobot", "episode_index": 54}
+{"source_uid": "9999c92dcbf74615", "num_frames": 1343, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 140, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 141, "end_step": 244, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 245, "end_step": 266, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 358, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 359, "end_step": 462, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 504, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 526, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 527, "end_step": 548, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 549, "end_step": 570, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 622, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 623, "end_step": 662, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 698, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 699, "end_step": 712, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 713, "end_step": 816, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 934, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 935, "end_step": 988, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 989, "end_step": 1020, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1021, "end_step": 1066, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1067, "end_step": 1114, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1115, "end_step": 1156, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1157, "end_step": 1280, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 140, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 141, "end_step": 244, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 245, "end_step": 266, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 358, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 359, "end_step": 462, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 504, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 526, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 527, "end_step": 548, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 549, "end_step": 570, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 622, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 623, "end_step": 662, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 698, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 699, "end_step": 712, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 713, "end_step": 816, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 934, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 935, "end_step": 988, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 989, "end_step": 1020, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1021, "end_step": 1066, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1067, "end_step": 1114, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1115, "end_step": 1156, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1157, "end_step": 1280, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_48_38_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 69, "v40_language_source": "previous_published_lerobot", "episode_index": 55}
+{"source_uid": "ee9eff2d947f58ad", "num_frames": 1316, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 130, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 131, "end_step": 224, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 248, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 356, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 357, "end_step": 482, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 520, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 538, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 539, "end_step": 562, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 586, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 587, "end_step": 654, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 696, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 728, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 729, "end_step": 748, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 749, "end_step": 836, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 950, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 951, "end_step": 988, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 989, "end_step": 1036, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1037, "end_step": 1086, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1150, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1151, "end_step": 1178, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1179, "end_step": 1252, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 130, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 131, "end_step": 224, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 248, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 356, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 357, "end_step": 482, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 520, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 538, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 539, "end_step": 562, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 586, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 587, "end_step": 654, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 696, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 728, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 729, "end_step": 748, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 749, "end_step": 836, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 950, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 951, "end_step": 988, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 989, "end_step": 1036, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1037, "end_step": 1086, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1150, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1151, "end_step": 1178, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1179, "end_step": 1252, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_49_26_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 70, "v40_language_source": "previous_published_lerobot", "episode_index": 56}
+{"source_uid": "09d8bfe0ec7beb40", "num_frames": 1397, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 149, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 150, "end_step": 227, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 228, "end_step": 245, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 246, "end_step": 345, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 346, "end_step": 473, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 474, "end_step": 515, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 516, "end_step": 541, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 542, "end_step": 567, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 589, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 590, "end_step": 681, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 705, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 737, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 738, "end_step": 757, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 758, "end_step": 861, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 862, "end_step": 997, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 998, "end_step": 1033, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1034, "end_step": 1121, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1122, "end_step": 1149, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1219, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1220, "end_step": 1247, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1248, "end_step": 1333, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 149, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 150, "end_step": 227, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 228, "end_step": 245, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 246, "end_step": 345, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 346, "end_step": 473, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 474, "end_step": 515, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 516, "end_step": 541, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 542, "end_step": 567, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 589, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 590, "end_step": 681, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 705, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 737, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 738, "end_step": 757, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 758, "end_step": 861, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 862, "end_step": 997, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 998, "end_step": 1033, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1034, "end_step": 1121, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1122, "end_step": 1149, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1219, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1220, "end_step": 1247, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1248, "end_step": 1333, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_50_17_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 71, "v40_language_source": "previous_published_lerobot", "episode_index": 57}
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotations.jsonl b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..29752bb7face1df30cce3978d87d1e8af9a65c70
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,58 @@
+{"source_uid": "e16bec7b9a1491c2", "num_frames": 1656, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 195, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 196, "end_step": 273, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 321, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 322, "end_step": 438, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 579, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 639, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 651, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 652, "end_step": 684, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 720, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 774, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 789, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 816, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 843, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 844, "end_step": 969, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 970, "end_step": 1107, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1176, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1177, "end_step": 1254, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1255, "end_step": 1296, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1297, "end_step": 1362, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1363, "end_step": 1476, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1477, "end_step": 1593, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 195, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 196, "end_step": 273, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 321, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 322, "end_step": 438, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 579, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 639, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 651, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 652, "end_step": 684, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 720, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 774, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 789, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 816, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 843, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 844, "end_step": 969, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 970, "end_step": 1107, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1176, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1177, "end_step": 1254, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1255, "end_step": 1296, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1297, "end_step": 1362, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1363, "end_step": 1476, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1477, "end_step": 1593, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_28_10_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 2, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "67e078a861c8447a", "num_frames": 1512, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 315, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 316, "end_step": 429, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 430, "end_step": 561, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 562, "end_step": 627, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 639, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 663, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 664, "end_step": 705, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 804, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 834, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 858, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 885, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 993, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 994, "end_step": 1128, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1191, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1192, "end_step": 1227, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1228, "end_step": 1263, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1264, "end_step": 1323, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1324, "end_step": 1347, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1348, "end_step": 1446, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 315, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 316, "end_step": 429, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 430, "end_step": 561, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 562, "end_step": 627, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 639, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 663, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 664, "end_step": 705, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 804, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 834, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 858, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 885, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 993, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 994, "end_step": 1128, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1191, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1192, "end_step": 1227, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1228, "end_step": 1263, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1264, "end_step": 1323, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1324, "end_step": 1347, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1348, "end_step": 1446, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_29_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 3, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
+{"source_uid": "6b8d87f21227d7b1", "num_frames": 1783, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 270, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 420, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 654, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 726, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 735, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 765, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 789, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 933, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 993, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 994, "end_step": 1020, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 1021, "end_step": 1059, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 1060, "end_step": 1167, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1302, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1303, "end_step": 1386, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1387, "end_step": 1422, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1423, "end_step": 1506, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1507, "end_step": 1593, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1594, "end_step": 1623, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1624, "end_step": 1704, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 270, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 420, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 654, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 726, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 735, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 765, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 789, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 933, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 993, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 994, "end_step": 1020, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 1021, "end_step": 1059, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 1060, "end_step": 1167, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1302, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1303, "end_step": 1386, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1387, "end_step": 1422, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1423, "end_step": 1506, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1507, "end_step": 1593, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1594, "end_step": 1623, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1624, "end_step": 1704, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_30_22_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 4, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
+{"source_uid": "3412a30c22bcdf43", "num_frames": 1664, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 306, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 342, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 477, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 660, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 717, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 732, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 759, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 789, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 897, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 918, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 951, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 975, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 976, "end_step": 1071, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1072, "end_step": 1221, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1272, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1350, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1398, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1473, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1474, "end_step": 1491, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1492, "end_step": 1578, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 306, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 342, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 477, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 660, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 717, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 732, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 759, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 789, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 897, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 918, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 951, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 975, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 976, "end_step": 1071, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1072, "end_step": 1221, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1272, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1350, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1398, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1473, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1474, "end_step": 1491, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1492, "end_step": 1578, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_32_06_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 5, "v40_language_source": "previous_published_lerobot", "episode_index": 3}
+{"source_uid": "cc2f63a2595de044", "num_frames": 1603, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 273, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 330, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 477, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 633, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 681, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 693, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 717, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 741, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 831, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 876, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 897, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 924, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1035, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1170, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1171, "end_step": 1224, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1257, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1350, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1416, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1434, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1435, "end_step": 1530, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 273, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 330, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 477, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 633, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 681, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 693, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 717, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 741, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 831, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 876, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 897, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 924, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1035, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1170, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1171, "end_step": 1224, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1257, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1350, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1416, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1434, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1435, "end_step": 1530, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_34_02_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 7, "v40_language_source": "previous_published_lerobot", "episode_index": 4}
+{"source_uid": "c42f28b00ddab04a", "num_frames": 1711, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 279, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 345, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 346, "end_step": 456, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 630, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 687, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 688, "end_step": 702, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 738, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 774, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 870, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 915, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 936, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 966, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1062, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1212, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1213, "end_step": 1272, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1365, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1366, "end_step": 1395, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1396, "end_step": 1464, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1465, "end_step": 1518, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1519, "end_step": 1626, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 279, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 345, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 346, "end_step": 456, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 630, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 687, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 688, "end_step": 702, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 738, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 774, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 870, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 915, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 936, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 966, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1062, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1212, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1213, "end_step": 1272, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1365, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1366, "end_step": 1395, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1396, "end_step": 1464, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1465, "end_step": 1518, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1519, "end_step": 1626, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_35_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 8, "v40_language_source": "previous_published_lerobot", "episode_index": 5}
+{"source_uid": "e0ca5d2df0d59c88", "num_frames": 1496, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 288, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 387, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 388, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 591, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 612, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 630, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 660, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 789, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 831, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 957, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 958, "end_step": 1083, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1137, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1173, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1174, "end_step": 1248, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1249, "end_step": 1326, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1327, "end_step": 1347, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1348, "end_step": 1422, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 288, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 387, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 388, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 591, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 612, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 630, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 660, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 789, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 831, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 957, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 958, "end_step": 1083, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1137, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1173, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1174, "end_step": 1248, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1249, "end_step": 1326, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1327, "end_step": 1347, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1348, "end_step": 1422, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_36_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 6}
+{"source_uid": "a13a4ab6683a8ab8", "num_frames": 1467, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 270, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 396, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 582, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 624, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 645, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 646, "end_step": 738, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 762, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 780, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 801, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 802, "end_step": 927, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 928, "end_step": 1062, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1113, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1114, "end_step": 1167, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1224, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1275, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1276, "end_step": 1314, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1315, "end_step": 1392, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 270, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 396, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 582, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 624, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 645, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 646, "end_step": 738, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 762, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 780, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 801, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 802, "end_step": 927, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 928, "end_step": 1062, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1113, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1114, "end_step": 1167, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1224, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1275, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1276, "end_step": 1314, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1315, "end_step": 1392, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_37_03_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 10, "v40_language_source": "previous_published_lerobot", "episode_index": 7}
+{"source_uid": "ba95b158c2cf9159", "num_frames": 1494, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 261, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 414, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 543, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 544, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 594, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 618, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 720, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 738, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 759, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 780, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 909, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 910, "end_step": 1038, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1039, "end_step": 1092, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1143, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1144, "end_step": 1194, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1257, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1419, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 261, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 414, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 543, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 544, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 594, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 618, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 720, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 738, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 759, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 780, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 909, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 910, "end_step": 1038, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1039, "end_step": 1092, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1143, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1144, "end_step": 1194, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1257, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1419, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_40_22_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 12, "v40_language_source": "previous_published_lerobot", "episode_index": 8}
+{"source_uid": "a85023e1a353b7e1", "num_frames": 1652, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 258, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 390, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 504, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 678, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 741, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 759, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 783, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 807, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 808, "end_step": 906, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 933, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 963, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 964, "end_step": 990, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1086, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1257, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1326, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1327, "end_step": 1353, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1354, "end_step": 1401, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1402, "end_step": 1458, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1459, "end_step": 1503, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1504, "end_step": 1581, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 258, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 390, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 504, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 678, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 741, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 759, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 783, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 807, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 808, "end_step": 906, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 933, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 963, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 964, "end_step": 990, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1086, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1257, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1326, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1327, "end_step": 1353, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1354, "end_step": 1401, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1402, "end_step": 1458, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1459, "end_step": 1503, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1504, "end_step": 1581, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_41_15_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 13, "v40_language_source": "previous_published_lerobot", "episode_index": 9}
+{"source_uid": "1976ecab84c4be20", "num_frames": 1526, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 201, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 202, "end_step": 294, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 330, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 432, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 603, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 666, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 681, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 708, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 741, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 837, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 838, "end_step": 864, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 885, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 909, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 910, "end_step": 1026, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1128, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1188, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1245, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1246, "end_step": 1281, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1282, "end_step": 1338, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1339, "end_step": 1371, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1458, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 201, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 202, "end_step": 294, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 330, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 432, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 603, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 666, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 681, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 708, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 741, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 837, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 838, "end_step": 864, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 885, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 909, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 910, "end_step": 1026, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1128, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1188, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1245, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1246, "end_step": 1281, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1282, "end_step": 1338, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1339, "end_step": 1371, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1458, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_44_19_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 14, "v40_language_source": "previous_published_lerobot", "episode_index": 10}
+{"source_uid": "df878959be9ec3be", "num_frames": 1645, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 300, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 417, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 418, "end_step": 576, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 627, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 639, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 660, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 696, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 792, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 831, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 858, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 891, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1014, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1015, "end_step": 1149, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1206, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1207, "end_step": 1287, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1288, "end_step": 1371, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1458, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1459, "end_step": 1518, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1519, "end_step": 1575, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 300, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 417, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 418, "end_step": 576, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 627, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 639, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 660, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 696, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 792, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 831, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 858, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 891, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1014, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1015, "end_step": 1149, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1206, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1207, "end_step": 1287, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1288, "end_step": 1371, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1458, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1459, "end_step": 1518, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1519, "end_step": 1575, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_45_15_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 15, "v40_language_source": "previous_published_lerobot", "episode_index": 11}
+{"source_uid": "3934e21591c58d0c", "num_frames": 1510, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 288, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 318, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 420, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 588, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 615, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 636, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 756, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 783, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 831, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 951, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 1089, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1137, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1188, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1263, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1264, "end_step": 1323, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1324, "end_step": 1386, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1387, "end_step": 1437, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 288, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 318, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 420, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 588, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 615, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 636, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 756, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 783, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 831, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 951, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 1089, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1137, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1188, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1263, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1264, "end_step": 1323, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1324, "end_step": 1386, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1387, "end_step": 1437, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_46_12_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 16, "v40_language_source": "previous_published_lerobot", "episode_index": 12}
+{"source_uid": "736fd81bebb999ed", "num_frames": 1569, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 258, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 291, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 411, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 594, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 639, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 648, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 669, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 670, "end_step": 705, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 816, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 837, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 838, "end_step": 861, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 862, "end_step": 888, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 990, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1170, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1171, "end_step": 1218, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1293, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1294, "end_step": 1323, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1324, "end_step": 1386, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1387, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1491, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 258, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 291, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 411, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 594, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 639, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 648, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 669, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 670, "end_step": 705, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 816, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 837, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 838, "end_step": 861, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 862, "end_step": 888, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 990, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1170, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1171, "end_step": 1218, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1293, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1294, "end_step": 1323, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1324, "end_step": 1386, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1387, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1491, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_47_06_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 17, "v40_language_source": "previous_published_lerobot", "episode_index": 13}
+{"source_uid": "e1c41370ddce3c0a", "num_frames": 1483, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 285, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 390, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 543, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 544, "end_step": 582, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 594, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 621, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 652, "end_step": 735, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 768, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 792, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 825, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 924, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1077, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1128, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1191, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1192, "end_step": 1227, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1228, "end_step": 1293, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1294, "end_step": 1353, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1354, "end_step": 1407, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 285, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 390, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 543, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 544, "end_step": 582, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 594, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 621, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 652, "end_step": 735, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 768, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 792, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 825, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 924, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1077, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1128, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1191, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1192, "end_step": 1227, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1228, "end_step": 1293, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1294, "end_step": 1353, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1354, "end_step": 1407, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_48_54_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 19, "v40_language_source": "previous_published_lerobot", "episode_index": 14}
+{"source_uid": "3b157c8c695d9377", "num_frames": 1505, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 411, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 624, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 657, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 658, "end_step": 732, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 765, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 792, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 819, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 915, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1035, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1101, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1137, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1200, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1201, "end_step": 1269, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1270, "end_step": 1356, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1357, "end_step": 1434, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 411, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 624, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 657, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 658, "end_step": 732, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 765, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 792, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 819, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 915, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1035, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1101, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1137, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1200, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1201, "end_step": 1269, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1270, "end_step": 1356, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1357, "end_step": 1434, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_49_46_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 20, "v40_language_source": "previous_published_lerobot", "episode_index": 15}
+{"source_uid": "9c95902d0ab5f42a", "num_frames": 1568, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 258, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 327, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 328, "end_step": 465, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 466, "end_step": 633, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 696, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 711, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 735, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 768, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 837, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 838, "end_step": 873, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 874, "end_step": 903, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 904, "end_step": 933, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 1053, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1054, "end_step": 1191, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1192, "end_step": 1251, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1252, "end_step": 1278, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1279, "end_step": 1320, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1321, "end_step": 1371, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1497, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 258, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 327, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 328, "end_step": 465, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 466, "end_step": 633, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 696, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 711, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 735, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 768, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 837, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 838, "end_step": 873, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 874, "end_step": 903, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 904, "end_step": 933, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 1053, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1054, "end_step": 1191, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1192, "end_step": 1251, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1252, "end_step": 1278, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1279, "end_step": 1320, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1321, "end_step": 1371, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1497, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_50_40_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 21, "v40_language_source": "previous_published_lerobot", "episode_index": 16}
+{"source_uid": "67839f3e388aed1e", "num_frames": 1622, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 291, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 405, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 406, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 627, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 657, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 658, "end_step": 753, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 774, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 798, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 825, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 1041, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1155, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1212, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1213, "end_step": 1296, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1297, "end_step": 1353, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1354, "end_step": 1443, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1444, "end_step": 1476, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1477, "end_step": 1539, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 291, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 405, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 406, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 627, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 657, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 658, "end_step": 753, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 774, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 798, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 825, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 1041, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1155, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1212, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1213, "end_step": 1296, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1297, "end_step": 1353, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1354, "end_step": 1443, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1444, "end_step": 1476, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1477, "end_step": 1539, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_51_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 22, "v40_language_source": "previous_published_lerobot", "episode_index": 17}
+{"source_uid": "0e28f6172300368e", "num_frames": 1487, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 264, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 381, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 382, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 600, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 618, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 774, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 795, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 822, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 951, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 1077, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1134, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1135, "end_step": 1215, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1216, "end_step": 1245, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1246, "end_step": 1308, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1309, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1422, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 264, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 381, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 382, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 600, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 618, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 774, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 795, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 822, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 951, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 1077, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1134, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1135, "end_step": 1215, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1216, "end_step": 1245, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1246, "end_step": 1308, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1309, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1422, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_52_54_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 23, "v40_language_source": "previous_published_lerobot", "episode_index": 18}
+{"source_uid": "f9c12a895212102f", "num_frames": 1431, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 261, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 390, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 528, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 570, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 582, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 600, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 636, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 735, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 753, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 786, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 819, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 939, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 940, "end_step": 1053, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1054, "end_step": 1104, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1194, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1221, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1269, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1270, "end_step": 1305, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1356, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 261, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 390, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 528, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 570, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 582, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 600, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 636, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 735, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 753, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 786, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 819, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 939, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 940, "end_step": 1053, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1054, "end_step": 1104, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1194, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1221, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1269, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1270, "end_step": 1305, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1356, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_54_00_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 24, "v40_language_source": "previous_published_lerobot", "episode_index": 19}
+{"source_uid": "d163e9c8822c3e53", "num_frames": 1416, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 372, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 510, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 558, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 564, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 588, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 615, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 702, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 756, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 774, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 801, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 802, "end_step": 906, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1035, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1086, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1161, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1162, "end_step": 1188, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1254, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1255, "end_step": 1284, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1347, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 372, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 510, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 558, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 564, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 588, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 615, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 702, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 756, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 774, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 801, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 802, "end_step": 906, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1035, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1086, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1161, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1162, "end_step": 1188, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1254, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1255, "end_step": 1284, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1347, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_54_50_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 25, "v40_language_source": "previous_published_lerobot", "episode_index": 20}
+{"source_uid": "866c9c51ebcb6009", "num_frames": 1407, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 294, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 396, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 531, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 532, "end_step": 591, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 603, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 627, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 657, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 658, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 786, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 834, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 951, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 1068, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1069, "end_step": 1125, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1155, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1200, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1201, "end_step": 1257, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1287, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1288, "end_step": 1338, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 294, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 396, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 531, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 532, "end_step": 591, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 603, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 627, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 657, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 658, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 786, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 834, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 951, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 1068, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1069, "end_step": 1125, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1155, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1200, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1201, "end_step": 1257, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1287, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1288, "end_step": 1338, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_55_39_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 26, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
+{"source_uid": "d6cdf6336fa161d5", "num_frames": 1400, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 384, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 507, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 558, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 567, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 591, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 687, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 688, "end_step": 726, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 753, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 780, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 903, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 904, "end_step": 1026, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1083, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1122, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1123, "end_step": 1167, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1227, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1228, "end_step": 1251, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1252, "end_step": 1320, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 384, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 507, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 558, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 567, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 591, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 687, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 688, "end_step": 726, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 753, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 780, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 903, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 904, "end_step": 1026, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1083, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1122, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1123, "end_step": 1167, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1227, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1228, "end_step": 1251, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1252, "end_step": 1320, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_56_29_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 27, "v40_language_source": "previous_published_lerobot", "episode_index": 22}
+{"source_uid": "b33f695ea55c1565", "num_frames": 1537, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 243, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 244, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 387, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 388, "end_step": 522, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 576, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 591, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 615, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 648, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 783, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 810, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 840, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 954, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 1107, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1161, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1162, "end_step": 1197, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1198, "end_step": 1284, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1350, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1377, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1378, "end_step": 1458, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 243, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 244, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 387, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 388, "end_step": 522, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 576, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 591, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 615, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 648, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 783, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 810, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 840, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 954, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 1107, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1161, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1162, "end_step": 1197, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1198, "end_step": 1284, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1350, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1377, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1378, "end_step": 1458, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_58_08_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 29, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
+{"source_uid": "9ffb866fd72d0a1b", "num_frames": 1374, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 246, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 273, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 366, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 507, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 573, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 574, "end_step": 579, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 606, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 636, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 735, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 756, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 777, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 778, "end_step": 798, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 912, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 1026, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1080, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1107, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1158, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1159, "end_step": 1206, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1207, "end_step": 1230, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1231, "end_step": 1299, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 246, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 273, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 366, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 507, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 573, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 574, "end_step": 579, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 606, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 636, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 735, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 756, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 777, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 778, "end_step": 798, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 912, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 1026, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1080, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1107, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1158, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1159, "end_step": 1206, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1207, "end_step": 1230, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1231, "end_step": 1299, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_02_31_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 31, "v40_language_source": "previous_published_lerobot", "episode_index": 24}
+{"source_uid": "b717122ad8db7128", "num_frames": 1411, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 249, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 250, "end_step": 276, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 366, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 486, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 531, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 532, "end_step": 540, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 567, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 597, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 672, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 723, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 724, "end_step": 744, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 771, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 772, "end_step": 891, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1032, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1089, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1143, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1144, "end_step": 1182, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1183, "end_step": 1233, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1234, "end_step": 1263, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1264, "end_step": 1332, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 249, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 250, "end_step": 276, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 366, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 486, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 531, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 532, "end_step": 540, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 567, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 597, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 672, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 723, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 724, "end_step": 744, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 771, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 772, "end_step": 891, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1032, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1089, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1143, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1144, "end_step": 1182, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1183, "end_step": 1233, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1234, "end_step": 1263, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1264, "end_step": 1332, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_03_19_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 32, "v40_language_source": "previous_published_lerobot", "episode_index": 25}
+{"source_uid": "ead2264e2196b9b2", "num_frames": 1400, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 261, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 294, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 393, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 394, "end_step": 513, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 564, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 579, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 594, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 624, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 717, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 765, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 786, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 810, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 909, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 910, "end_step": 1029, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1104, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1155, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1209, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1210, "end_step": 1239, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1240, "end_step": 1320, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 261, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 294, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 393, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 394, "end_step": 513, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 564, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 579, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 594, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 624, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 717, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 765, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 786, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 810, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 909, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 910, "end_step": 1029, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1104, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1155, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1209, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1210, "end_step": 1239, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1240, "end_step": 1320, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_04_08_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 33, "v40_language_source": "previous_published_lerobot", "episode_index": 26}
+{"source_uid": "776fb99182f62c75", "num_frames": 1590, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 378, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 498, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 540, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 561, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 562, "end_step": 585, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 612, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 705, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 738, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 756, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 783, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 906, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1050, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1051, "end_step": 1140, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1141, "end_step": 1224, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1305, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1380, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1381, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1530, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 378, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 498, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 540, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 561, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 562, "end_step": 585, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 612, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 705, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 738, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 756, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 783, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 906, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1050, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1051, "end_step": 1140, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1141, "end_step": 1224, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1305, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1380, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1381, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1530, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_04_56_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 34, "v40_language_source": "previous_published_lerobot", "episode_index": 27}
+{"source_uid": "ac4189dd97a7b83c", "num_frames": 1561, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 237, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 399, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 540, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 603, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 615, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 639, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 666, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 762, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 783, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 807, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 808, "end_step": 840, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 954, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 1068, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1069, "end_step": 1152, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1153, "end_step": 1233, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1234, "end_step": 1311, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1312, "end_step": 1383, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1384, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1476, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 237, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 399, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 540, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 603, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 615, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 639, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 666, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 762, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 783, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 807, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 808, "end_step": 840, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 954, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 1068, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1069, "end_step": 1152, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1153, "end_step": 1233, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1234, "end_step": 1311, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1312, "end_step": 1383, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1384, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1476, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_05_53_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 35, "v40_language_source": "previous_published_lerobot", "episode_index": 28}
+{"source_uid": "d6158031f4240c28", "num_frames": 1385, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 225, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 226, "end_step": 297, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 298, "end_step": 420, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 579, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 585, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 609, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 610, "end_step": 639, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 717, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 738, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 768, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 795, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 915, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1029, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1077, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1092, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1167, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1224, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1257, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1314, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 225, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 226, "end_step": 297, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 298, "end_step": 420, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 579, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 585, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 609, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 610, "end_step": 639, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 717, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 738, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 768, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 795, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 915, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1029, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1077, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1092, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1167, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1224, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1257, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1314, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_07_54_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 37, "v40_language_source": "previous_published_lerobot", "episode_index": 29}
+{"source_uid": "4cd85532532bb990", "num_frames": 1423, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 141, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 142, "end_step": 228, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 282, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 372, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 510, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 567, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 579, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 597, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 624, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 729, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 730, "end_step": 756, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 780, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 810, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 924, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1041, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1101, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1155, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1200, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1201, "end_step": 1257, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1290, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1291, "end_step": 1350, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 141, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 142, "end_step": 228, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 282, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 372, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 510, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 567, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 579, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 597, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 624, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 729, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 730, "end_step": 756, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 780, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 810, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 924, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1041, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1101, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1155, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1200, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1201, "end_step": 1257, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1290, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1291, "end_step": 1350, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_08_43_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 38, "v40_language_source": "previous_published_lerobot", "episode_index": 30}
+{"source_uid": "8cf54d0e5e9f7679", "num_frames": 1688, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 222, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 312, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 378, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 495, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 496, "end_step": 630, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 684, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 696, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 726, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 753, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 828, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 843, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 844, "end_step": 867, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 868, "end_step": 891, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1017, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1018, "end_step": 1125, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1197, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1198, "end_step": 1239, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1240, "end_step": 1404, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1405, "end_step": 1491, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1492, "end_step": 1548, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1549, "end_step": 1611, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 222, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 312, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 378, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 495, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 496, "end_step": 630, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 684, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 696, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 726, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 753, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 828, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 843, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 844, "end_step": 867, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 868, "end_step": 891, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1017, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1018, "end_step": 1125, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1197, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1198, "end_step": 1239, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1240, "end_step": 1404, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1405, "end_step": 1491, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1492, "end_step": 1548, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1549, "end_step": 1611, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_10_06_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 39, "v40_language_source": "previous_published_lerobot", "episode_index": 31}
+{"source_uid": "d9a67cfab2adc5c3", "num_frames": 1282, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 228, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 276, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 369, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 480, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 522, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 534, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 558, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 588, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 663, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 664, "end_step": 681, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 705, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 729, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 730, "end_step": 834, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 930, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 972, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 973, "end_step": 1041, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1077, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1122, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1123, "end_step": 1146, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1147, "end_step": 1209, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 228, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 276, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 369, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 480, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 522, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 534, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 558, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 588, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 663, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 664, "end_step": 681, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 705, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 729, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 730, "end_step": 834, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 930, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 972, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 973, "end_step": 1041, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1077, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1122, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1123, "end_step": 1146, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1147, "end_step": 1209, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_11_57_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 41, "v40_language_source": "previous_published_lerobot", "episode_index": 32}
+{"source_uid": "31f4119a52f0ea82", "num_frames": 1336, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 198, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 270, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 369, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 510, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 552, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 570, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 585, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 606, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 693, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 717, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 744, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 768, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 888, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 996, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 997, "end_step": 1044, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1045, "end_step": 1083, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1125, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1176, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1177, "end_step": 1218, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1263, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 198, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 270, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 369, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 510, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 552, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 570, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 585, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 606, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 693, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 717, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 744, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 768, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 888, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 996, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 997, "end_step": 1044, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1045, "end_step": 1083, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1125, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1176, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1177, "end_step": 1218, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1263, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_12_41_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 42, "v40_language_source": "previous_published_lerobot", "episode_index": 33}
+{"source_uid": "85f9550a043eb752", "num_frames": 1486, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 258, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 354, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 477, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 528, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 537, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 558, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 585, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 672, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 714, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 738, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 768, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 912, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 1044, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1045, "end_step": 1098, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1099, "end_step": 1185, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1186, "end_step": 1221, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1305, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1410, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 258, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 354, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 477, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 528, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 537, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 558, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 585, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 672, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 714, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 738, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 768, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 912, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 1044, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1045, "end_step": 1098, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1099, "end_step": 1185, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1186, "end_step": 1221, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1305, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1410, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_13_28_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 43, "v40_language_source": "previous_published_lerobot", "episode_index": 34}
+{"source_uid": "e97cee5e19a47a8c", "num_frames": 1444, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 237, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 258, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 360, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 507, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 552, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 567, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 585, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 621, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 696, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 726, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 753, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 780, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 900, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 1029, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1134, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1135, "end_step": 1182, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1183, "end_step": 1236, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1237, "end_step": 1284, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1368, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 237, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 258, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 360, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 507, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 552, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 567, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 585, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 621, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 696, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 726, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 753, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 780, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 900, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 1029, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1134, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1135, "end_step": 1182, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1183, "end_step": 1236, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1237, "end_step": 1284, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1368, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_14_21_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 44, "v40_language_source": "previous_published_lerobot", "episode_index": 35}
+{"source_uid": "790642bab72db9c3", "num_frames": 2370, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 154, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 248, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 284, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 380, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 381, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 584, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 585, "end_step": 602, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 603, "end_step": 634, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 652, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 653, "end_step": 740, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 874, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 875, "end_step": 906, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 936, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1054, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1055, "end_step": 1172, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1173, "end_step": 1230, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1231, "end_step": 2090, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 2091, "end_step": 2144, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 2145, "end_step": 2204, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 2205, "end_step": 2236, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 2237, "end_step": 2302, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 154, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 248, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 284, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 380, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 381, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 584, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 585, "end_step": 602, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 603, "end_step": 634, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 652, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 653, "end_step": 740, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 874, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 875, "end_step": 906, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 936, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1054, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1055, "end_step": 1172, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1173, "end_step": 1230, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1231, "end_step": 2090, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 2091, "end_step": 2144, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 2145, "end_step": 2204, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 2205, "end_step": 2236, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 2237, "end_step": 2302, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_15_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 45, "v40_language_source": "previous_published_lerobot", "episode_index": 36}
+{"source_uid": "cbd31bbb0ec57d5c", "num_frames": 1472, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 148, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 149, "end_step": 266, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 278, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 279, "end_step": 374, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 375, "end_step": 522, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 576, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 608, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 650, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 678, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 744, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 776, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 777, "end_step": 818, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 819, "end_step": 838, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 839, "end_step": 952, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 953, "end_step": 1082, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 1126, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1127, "end_step": 1198, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1199, "end_step": 1246, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1247, "end_step": 1294, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1295, "end_step": 1332, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1406, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 148, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 149, "end_step": 266, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 278, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 279, "end_step": 374, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 375, "end_step": 522, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 576, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 608, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 650, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 678, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 744, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 776, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 777, "end_step": 818, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 819, "end_step": 838, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 839, "end_step": 952, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 953, "end_step": 1082, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 1126, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1127, "end_step": 1198, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1199, "end_step": 1246, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1247, "end_step": 1294, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1295, "end_step": 1332, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1406, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_17_07_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 46, "v40_language_source": "previous_published_lerobot", "episode_index": 37}
+{"source_uid": "0961467e8fa38aaf", "num_frames": 1584, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 158, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 159, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 286, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 287, "end_step": 382, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 383, "end_step": 562, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 616, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 617, "end_step": 642, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 666, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 682, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 683, "end_step": 756, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 870, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 902, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 924, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1022, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1023, "end_step": 1144, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1145, "end_step": 1194, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1262, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1263, "end_step": 1302, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1303, "end_step": 1370, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1371, "end_step": 1458, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1459, "end_step": 1520, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 158, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 159, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 286, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 287, "end_step": 382, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 383, "end_step": 562, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 616, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 617, "end_step": 642, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 666, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 682, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 683, "end_step": 756, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 870, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 902, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 924, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1022, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1023, "end_step": 1144, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1145, "end_step": 1194, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1262, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1263, "end_step": 1302, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1303, "end_step": 1370, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1371, "end_step": 1458, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1459, "end_step": 1520, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_18_00_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 47, "v40_language_source": "previous_published_lerobot", "episode_index": 38}
+{"source_uid": "400d5a5db9fd2fd8", "num_frames": 1800, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 284, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 312, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 430, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 596, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 597, "end_step": 640, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 641, "end_step": 658, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 659, "end_step": 690, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 710, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 711, "end_step": 798, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 826, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 827, "end_step": 862, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 863, "end_step": 894, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 998, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 999, "end_step": 1226, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1227, "end_step": 1272, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1400, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1401, "end_step": 1440, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1441, "end_step": 1534, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1535, "end_step": 1644, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1645, "end_step": 1720, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 284, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 312, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 430, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 596, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 597, "end_step": 640, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 641, "end_step": 658, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 659, "end_step": 690, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 710, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 711, "end_step": 798, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 826, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 827, "end_step": 862, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 863, "end_step": 894, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 998, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 999, "end_step": 1226, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1227, "end_step": 1272, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1400, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1401, "end_step": 1440, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1441, "end_step": 1534, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1535, "end_step": 1644, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1645, "end_step": 1720, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_19_02_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 48, "v40_language_source": "previous_published_lerobot", "episode_index": 39}
+{"source_uid": "08fedbc174c8951c", "num_frames": 1475, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 176, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 177, "end_step": 292, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 293, "end_step": 310, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 311, "end_step": 434, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 435, "end_step": 588, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 632, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 633, "end_step": 648, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 672, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 694, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 695, "end_step": 780, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 816, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 860, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 861, "end_step": 876, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 974, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 975, "end_step": 1090, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1091, "end_step": 1138, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1139, "end_step": 1154, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1155, "end_step": 1214, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1215, "end_step": 1294, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1295, "end_step": 1322, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1323, "end_step": 1408, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 176, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 177, "end_step": 292, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 293, "end_step": 310, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 311, "end_step": 434, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 435, "end_step": 588, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 632, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 633, "end_step": 648, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 672, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 694, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 695, "end_step": 780, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 816, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 860, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 861, "end_step": 876, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 974, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 975, "end_step": 1090, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1091, "end_step": 1138, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1139, "end_step": 1154, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1155, "end_step": 1214, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1215, "end_step": 1294, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1295, "end_step": 1322, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1323, "end_step": 1408, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_20_39_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 49, "v40_language_source": "previous_published_lerobot", "episode_index": 40}
+{"source_uid": "0ec336a876228e52", "num_frames": 1611, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 250, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 350, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 351, "end_step": 376, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 377, "end_step": 480, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 614, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 615, "end_step": 650, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 670, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 671, "end_step": 706, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 707, "end_step": 718, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 719, "end_step": 802, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 803, "end_step": 874, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 875, "end_step": 902, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 914, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 915, "end_step": 1036, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1037, "end_step": 1182, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1183, "end_step": 1226, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1227, "end_step": 1304, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1305, "end_step": 1350, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1416, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1466, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1467, "end_step": 1534, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 250, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 350, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 351, "end_step": 376, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 377, "end_step": 480, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 614, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 615, "end_step": 650, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 670, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 671, "end_step": 706, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 707, "end_step": 718, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 719, "end_step": 802, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 803, "end_step": 874, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 875, "end_step": 902, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 914, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 915, "end_step": 1036, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1037, "end_step": 1182, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1183, "end_step": 1226, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1227, "end_step": 1304, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1305, "end_step": 1350, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1416, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1466, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1467, "end_step": 1534, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_21_33_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 50, "v40_language_source": "previous_published_lerobot", "episode_index": 41}
+{"source_uid": "3dcf9879578a248a", "num_frames": 2043, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 282, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 336, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 442, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 443, "end_step": 628, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 629, "end_step": 697, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 698, "end_step": 703, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 704, "end_step": 721, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 722, "end_step": 760, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 859, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 860, "end_step": 889, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 890, "end_step": 913, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 914, "end_step": 955, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 956, "end_step": 1075, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1076, "end_step": 1246, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1247, "end_step": 1306, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1307, "end_step": 1363, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1364, "end_step": 1813, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1814, "end_step": 1858, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1859, "end_step": 1894, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1895, "end_step": 1963, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 282, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 336, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 442, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 443, "end_step": 628, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 629, "end_step": 697, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 698, "end_step": 703, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 704, "end_step": 721, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 722, "end_step": 760, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 859, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 860, "end_step": 889, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 890, "end_step": 913, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 914, "end_step": 955, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 956, "end_step": 1075, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1076, "end_step": 1246, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1247, "end_step": 1306, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1307, "end_step": 1363, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1364, "end_step": 1813, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1814, "end_step": 1858, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1859, "end_step": 1894, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1895, "end_step": 1963, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_23_31_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 52, "v40_language_source": "previous_published_lerobot", "episode_index": 42}
+{"source_uid": "828fc34effb90c27", "num_frames": 1697, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 158, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 159, "end_step": 266, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 292, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 293, "end_step": 398, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 399, "end_step": 524, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 525, "end_step": 586, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 587, "end_step": 612, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 638, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 639, "end_step": 664, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 665, "end_step": 744, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 854, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 855, "end_step": 886, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 887, "end_step": 916, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 917, "end_step": 1042, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1043, "end_step": 1186, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1187, "end_step": 1236, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1237, "end_step": 1278, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1279, "end_step": 1342, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1343, "end_step": 1460, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1461, "end_step": 1514, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1515, "end_step": 1632, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 158, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 159, "end_step": 266, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 292, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 293, "end_step": 398, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 399, "end_step": 524, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 525, "end_step": 586, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 587, "end_step": 612, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 638, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 639, "end_step": 664, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 665, "end_step": 744, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 854, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 855, "end_step": 886, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 887, "end_step": 916, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 917, "end_step": 1042, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1043, "end_step": 1186, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1187, "end_step": 1236, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1237, "end_step": 1278, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1279, "end_step": 1342, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1343, "end_step": 1460, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1461, "end_step": 1514, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1515, "end_step": 1632, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_24_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 53, "v40_language_source": "previous_published_lerobot", "episode_index": 43}
+{"source_uid": "c83e074546ae16ef", "num_frames": 1659, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 282, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 338, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 339, "end_step": 478, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 479, "end_step": 608, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 652, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 653, "end_step": 674, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 675, "end_step": 700, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 730, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 731, "end_step": 806, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 807, "end_step": 836, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 882, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 910, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1010, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1011, "end_step": 1142, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1143, "end_step": 1186, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1187, "end_step": 1250, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1251, "end_step": 1294, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1295, "end_step": 1396, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1397, "end_step": 1446, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1447, "end_step": 1580, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 282, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 338, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 339, "end_step": 478, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 479, "end_step": 608, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 652, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 653, "end_step": 674, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 675, "end_step": 700, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 730, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 731, "end_step": 806, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 807, "end_step": 836, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 882, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 910, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1010, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1011, "end_step": 1142, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1143, "end_step": 1186, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1187, "end_step": 1250, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1251, "end_step": 1294, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1295, "end_step": 1396, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1397, "end_step": 1446, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1447, "end_step": 1580, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_28_56_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 54, "v40_language_source": "previous_published_lerobot", "episode_index": 44}
+{"source_uid": "b7b425dd2b6004ee", "num_frames": 1586, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 290, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 308, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 309, "end_step": 430, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 570, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 608, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 632, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 633, "end_step": 662, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 680, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 681, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 778, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 779, "end_step": 800, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 801, "end_step": 814, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 815, "end_step": 910, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1032, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1082, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 1128, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1222, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1223, "end_step": 1338, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1339, "end_step": 1364, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1365, "end_step": 1522, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 290, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 308, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 309, "end_step": 430, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 570, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 608, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 632, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 633, "end_step": 662, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 680, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 681, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 778, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 779, "end_step": 800, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 801, "end_step": 814, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 815, "end_step": 910, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1032, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1082, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 1128, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1222, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1223, "end_step": 1338, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1339, "end_step": 1364, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1365, "end_step": 1522, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_29_54_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 55, "v40_language_source": "previous_published_lerobot", "episode_index": 45}
+{"source_uid": "5865ab77d8883238", "num_frames": 1553, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 148, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 149, "end_step": 254, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 374, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 375, "end_step": 528, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 568, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 569, "end_step": 662, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 700, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 726, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 792, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 836, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 864, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 888, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 1004, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1005, "end_step": 1148, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1149, "end_step": 1184, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1185, "end_step": 1210, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1211, "end_step": 1266, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1267, "end_step": 1352, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1353, "end_step": 1392, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1393, "end_step": 1478, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 148, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 149, "end_step": 254, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 374, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 375, "end_step": 528, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 568, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 569, "end_step": 662, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 700, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 726, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 792, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 836, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 864, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 888, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 1004, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1005, "end_step": 1148, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1149, "end_step": 1184, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1185, "end_step": 1210, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1211, "end_step": 1266, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1267, "end_step": 1352, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1353, "end_step": 1392, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1393, "end_step": 1478, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_30_49_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 56, "v40_language_source": "previous_published_lerobot", "episode_index": 46}
+{"source_uid": "1dca11eeb301f1ff", "num_frames": 1851, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 290, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 402, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 604, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 605, "end_step": 662, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 688, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 689, "end_step": 724, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 725, "end_step": 778, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 779, "end_step": 872, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 873, "end_step": 912, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 948, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 949, "end_step": 966, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1080, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1258, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1259, "end_step": 1308, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1309, "end_step": 1486, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1487, "end_step": 1588, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1589, "end_step": 1664, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1665, "end_step": 1706, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1707, "end_step": 1774, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 290, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 402, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 604, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 605, "end_step": 662, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 688, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 689, "end_step": 724, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 725, "end_step": 778, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 779, "end_step": 872, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 873, "end_step": 912, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 948, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 949, "end_step": 966, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1080, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1258, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1259, "end_step": 1308, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1309, "end_step": 1486, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1487, "end_step": 1588, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1589, "end_step": 1664, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1665, "end_step": 1706, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1707, "end_step": 1774, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_31_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 57, "v40_language_source": "previous_published_lerobot", "episode_index": 47}
+{"source_uid": "575b43b77a44b29d", "num_frames": 1730, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 288, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 314, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 315, "end_step": 428, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 429, "end_step": 588, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 634, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 654, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 686, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 687, "end_step": 714, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 814, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 815, "end_step": 842, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 843, "end_step": 880, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 906, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1032, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1332, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1378, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1379, "end_step": 1410, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1411, "end_step": 1454, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1455, "end_step": 1520, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1521, "end_step": 1574, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1575, "end_step": 1662, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 288, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 314, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 315, "end_step": 428, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 429, "end_step": 588, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 634, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 654, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 686, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 687, "end_step": 714, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 814, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 815, "end_step": 842, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 843, "end_step": 880, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 906, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1032, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1332, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1378, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1379, "end_step": 1410, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1411, "end_step": 1454, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1455, "end_step": 1520, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1521, "end_step": 1574, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1575, "end_step": 1662, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_33_57_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 59, "v40_language_source": "previous_published_lerobot", "episode_index": 48}
+{"source_uid": "aacc20e350e91a2e", "num_frames": 1614, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 274, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 275, "end_step": 360, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 486, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 634, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 684, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 692, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 693, "end_step": 712, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 713, "end_step": 736, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 737, "end_step": 828, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 856, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 857, "end_step": 882, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 902, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 1018, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1019, "end_step": 1194, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1242, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1310, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1311, "end_step": 1348, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1349, "end_step": 1418, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1419, "end_step": 1470, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1471, "end_step": 1540, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 274, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 275, "end_step": 360, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 486, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 634, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 684, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 692, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 693, "end_step": 712, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 713, "end_step": 736, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 737, "end_step": 828, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 856, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 857, "end_step": 882, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 902, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 1018, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1019, "end_step": 1194, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1242, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1310, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1311, "end_step": 1348, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1349, "end_step": 1418, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1419, "end_step": 1470, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1471, "end_step": 1540, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_34_59_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 60, "v40_language_source": "previous_published_lerobot", "episode_index": 49}
+{"source_uid": "4dac8f1bcb26a703", "num_frames": 1384, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 142, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 143, "end_step": 256, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 257, "end_step": 306, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 410, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 411, "end_step": 520, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 550, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 551, "end_step": 576, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 602, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 603, "end_step": 644, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 645, "end_step": 704, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 705, "end_step": 726, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 766, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 767, "end_step": 788, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 789, "end_step": 904, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 905, "end_step": 1016, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1017, "end_step": 1058, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1059, "end_step": 1092, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1146, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1147, "end_step": 1218, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1240, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1241, "end_step": 1318, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 142, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 143, "end_step": 256, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 257, "end_step": 306, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 410, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 411, "end_step": 520, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 550, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 551, "end_step": 576, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 602, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 603, "end_step": 644, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 645, "end_step": 704, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 705, "end_step": 726, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 766, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 767, "end_step": 788, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 789, "end_step": 904, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 905, "end_step": 1016, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1017, "end_step": 1058, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1059, "end_step": 1092, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1146, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1147, "end_step": 1218, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1240, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1241, "end_step": 1318, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_43_09_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 63, "v40_language_source": "previous_published_lerobot", "episode_index": 50}
+{"source_uid": "cb2a652f0cf6d06a", "num_frames": 1532, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 298, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 299, "end_step": 318, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 414, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 562, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 626, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 627, "end_step": 654, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 688, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 689, "end_step": 712, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 713, "end_step": 796, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 797, "end_step": 848, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 849, "end_step": 874, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 875, "end_step": 894, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 1002, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1003, "end_step": 1148, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1149, "end_step": 1220, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1221, "end_step": 1250, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1251, "end_step": 1280, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1281, "end_step": 1342, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1343, "end_step": 1376, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1377, "end_step": 1468, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 298, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 299, "end_step": 318, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 414, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 562, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 626, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 627, "end_step": 654, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 688, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 689, "end_step": 712, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 713, "end_step": 796, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 797, "end_step": 848, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 849, "end_step": 874, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 875, "end_step": 894, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 1002, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1003, "end_step": 1148, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1149, "end_step": 1220, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1221, "end_step": 1250, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1251, "end_step": 1280, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1281, "end_step": 1342, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1343, "end_step": 1376, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1377, "end_step": 1468, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_43_58_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 64, "v40_language_source": "previous_published_lerobot", "episode_index": 51}
+{"source_uid": "cabb2b7638520183", "num_frames": 1514, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 152, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 153, "end_step": 278, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 279, "end_step": 302, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 303, "end_step": 390, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 556, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 600, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 634, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 672, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 708, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 788, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 789, "end_step": 824, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 825, "end_step": 868, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 869, "end_step": 884, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 885, "end_step": 986, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 987, "end_step": 1104, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1156, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1157, "end_step": 1186, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1187, "end_step": 1238, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1239, "end_step": 1318, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1319, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1448, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 152, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 153, "end_step": 278, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 279, "end_step": 302, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 303, "end_step": 390, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 556, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 600, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 634, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 672, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 708, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 788, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 789, "end_step": 824, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 825, "end_step": 868, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 869, "end_step": 884, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 885, "end_step": 986, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 987, "end_step": 1104, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1156, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1157, "end_step": 1186, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1187, "end_step": 1238, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1239, "end_step": 1318, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1319, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1448, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_45_08_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 65, "v40_language_source": "previous_published_lerobot", "episode_index": 52}
+{"source_uid": "fc546403bdc07b20", "num_frames": 1492, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 154, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 272, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 273, "end_step": 366, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 518, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 519, "end_step": 558, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 568, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 569, "end_step": 590, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 620, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 621, "end_step": 700, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 772, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 773, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 818, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 819, "end_step": 932, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 933, "end_step": 1052, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1053, "end_step": 1090, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1091, "end_step": 1168, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1169, "end_step": 1208, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1209, "end_step": 1284, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1320, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1321, "end_step": 1424, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 154, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 272, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 273, "end_step": 366, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 518, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 519, "end_step": 558, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 568, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 569, "end_step": 590, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 620, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 621, "end_step": 700, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 772, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 773, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 818, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 819, "end_step": 932, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 933, "end_step": 1052, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1053, "end_step": 1090, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1091, "end_step": 1168, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1169, "end_step": 1208, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1209, "end_step": 1284, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1320, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1321, "end_step": 1424, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_46_58_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 67, "v40_language_source": "previous_published_lerobot", "episode_index": 53}
+{"source_uid": "6e24ec0e5e7b6880", "num_frames": 1371, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 152, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 153, "end_step": 242, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 243, "end_step": 260, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 261, "end_step": 350, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 351, "end_step": 504, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 544, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 545, "end_step": 556, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 580, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 581, "end_step": 614, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 615, "end_step": 672, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 720, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 746, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 747, "end_step": 760, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 876, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 992, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 993, "end_step": 1052, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1053, "end_step": 1104, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1132, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1133, "end_step": 1190, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1191, "end_step": 1232, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1233, "end_step": 1304, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 152, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 153, "end_step": 242, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 243, "end_step": 260, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 261, "end_step": 350, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 351, "end_step": 504, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 544, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 545, "end_step": 556, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 580, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 581, "end_step": 614, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 615, "end_step": 672, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 720, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 746, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 747, "end_step": 760, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 876, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 992, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 993, "end_step": 1052, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1053, "end_step": 1104, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1132, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1133, "end_step": 1190, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1191, "end_step": 1232, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1233, "end_step": 1304, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_47_50_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 68, "v40_language_source": "previous_published_lerobot", "episode_index": 54}
+{"source_uid": "9999c92dcbf74615", "num_frames": 1343, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 140, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 141, "end_step": 244, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 245, "end_step": 266, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 358, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 359, "end_step": 462, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 504, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 526, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 527, "end_step": 548, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 549, "end_step": 570, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 622, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 623, "end_step": 662, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 698, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 699, "end_step": 712, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 713, "end_step": 816, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 934, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 935, "end_step": 988, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 989, "end_step": 1020, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1021, "end_step": 1066, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1067, "end_step": 1114, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1115, "end_step": 1156, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1157, "end_step": 1280, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 140, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 141, "end_step": 244, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 245, "end_step": 266, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 358, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 359, "end_step": 462, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 504, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 526, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 527, "end_step": 548, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 549, "end_step": 570, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 622, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 623, "end_step": 662, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 698, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 699, "end_step": 712, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 713, "end_step": 816, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 934, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 935, "end_step": 988, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 989, "end_step": 1020, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1021, "end_step": 1066, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1067, "end_step": 1114, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1115, "end_step": 1156, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1157, "end_step": 1280, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_48_38_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 69, "v40_language_source": "previous_published_lerobot", "episode_index": 55}
+{"source_uid": "ee9eff2d947f58ad", "num_frames": 1316, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 130, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 131, "end_step": 224, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 248, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 356, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 357, "end_step": 482, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 520, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 538, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 539, "end_step": 562, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 586, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 587, "end_step": 654, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 696, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 728, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 729, "end_step": 748, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 749, "end_step": 836, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 950, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 951, "end_step": 988, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 989, "end_step": 1036, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1037, "end_step": 1086, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1150, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1151, "end_step": 1178, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1179, "end_step": 1252, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 130, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 131, "end_step": 224, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 248, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 356, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 357, "end_step": 482, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 520, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 538, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 539, "end_step": 562, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 586, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 587, "end_step": 654, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 696, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 728, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 729, "end_step": 748, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 749, "end_step": 836, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 950, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 951, "end_step": 988, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 989, "end_step": 1036, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1037, "end_step": 1086, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1150, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1151, "end_step": 1178, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1179, "end_step": 1252, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_49_26_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 70, "v40_language_source": "previous_published_lerobot", "episode_index": 56}
+{"source_uid": "09d8bfe0ec7beb40", "num_frames": 1397, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 149, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 150, "end_step": 227, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 228, "end_step": 245, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 246, "end_step": 345, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 346, "end_step": 473, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 474, "end_step": 515, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 516, "end_step": 541, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 542, "end_step": 567, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 589, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 590, "end_step": 681, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 705, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 737, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 738, "end_step": 757, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 758, "end_step": 861, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 862, "end_step": 997, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 998, "end_step": 1033, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1034, "end_step": 1121, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1122, "end_step": 1149, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1219, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1220, "end_step": 1247, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1248, "end_step": 1333, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 149, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 150, "end_step": 227, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 228, "end_step": 245, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 246, "end_step": 345, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 346, "end_step": 473, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 474, "end_step": 515, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 516, "end_step": 541, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 542, "end_step": 567, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 589, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 590, "end_step": 681, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 705, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 737, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 738, "end_step": 757, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 758, "end_step": 861, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 862, "end_step": 997, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 998, "end_step": 1033, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1034, "end_step": 1121, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1122, "end_step": 1149, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1219, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1220, "end_step": 1247, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1248, "end_step": 1333, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_50_17_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 71, "v40_language_source": "previous_published_lerobot", "episode_index": 57}
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/episodes.jsonl b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d14cca3e8e58f2b435705a9c3b0b16884923ab1a
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,58 @@
+{"episode_index": 0, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1656}
+{"episode_index": 1, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1512}
+{"episode_index": 2, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1783}
+{"episode_index": 3, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1664}
+{"episode_index": 4, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1603}
+{"episode_index": 5, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1711}
+{"episode_index": 6, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1496}
+{"episode_index": 7, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1467}
+{"episode_index": 8, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1494}
+{"episode_index": 9, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1652}
+{"episode_index": 10, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1526}
+{"episode_index": 11, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1645}
+{"episode_index": 12, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1510}
+{"episode_index": 13, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1569}
+{"episode_index": 14, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1483}
+{"episode_index": 15, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1505}
+{"episode_index": 16, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1568}
+{"episode_index": 17, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1622}
+{"episode_index": 18, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1487}
+{"episode_index": 19, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1431}
+{"episode_index": 20, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1416}
+{"episode_index": 21, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1407}
+{"episode_index": 22, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1400}
+{"episode_index": 23, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1537}
+{"episode_index": 24, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1374}
+{"episode_index": 25, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1411}
+{"episode_index": 26, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1400}
+{"episode_index": 27, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1590}
+{"episode_index": 28, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1561}
+{"episode_index": 29, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1385}
+{"episode_index": 30, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1423}
+{"episode_index": 31, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1688}
+{"episode_index": 32, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1282}
+{"episode_index": 33, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1336}
+{"episode_index": 34, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1486}
+{"episode_index": 35, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1444}
+{"episode_index": 36, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 2370}
+{"episode_index": 37, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1472}
+{"episode_index": 38, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1584}
+{"episode_index": 39, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1800}
+{"episode_index": 40, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1475}
+{"episode_index": 41, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1611}
+{"episode_index": 42, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 2043}
+{"episode_index": 43, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1697}
+{"episode_index": 44, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1659}
+{"episode_index": 45, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1586}
+{"episode_index": 46, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1553}
+{"episode_index": 47, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1851}
+{"episode_index": 48, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1730}
+{"episode_index": 49, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1614}
+{"episode_index": 50, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1384}
+{"episode_index": 51, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1532}
+{"episode_index": 52, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1514}
+{"episode_index": 53, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1492}
+{"episode_index": 54, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1371}
+{"episode_index": 55, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1343}
+{"episode_index": 56, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1316}
+{"episode_index": 57, "tasks": ["Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."], "length": 1397}
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/episodes_stats.jsonl b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c3a07b9be1ad793793c424fd38955e1607cc92b2
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,58 @@
+{"episode_index": 0, "stats": {"observation.state": {"min": [0.7127024531364441, -0.8349297046661377, 0.0006875349790789187, 1.1057422161102295, -0.8300822973251343, -0.7694005370140076, 0.3195469081401825, 0.007665583863854408, -0.19616879522800446, -0.2469688057899475, -0.3172646760940552, 0.0026244742330163717, 0.003218522062525153, -0.010903945192694664, 0.003432168625295162, 0.0008562495931982994, 0.0037663087714463472, -0.0005235003773123026, 0.003508045105263591, 0.0008558061672374606, 0.0033740513026714325, -0.03577859327197075, 0.0030439221300184727, 0.0008828549762256444, 0.0060892123728990555, 0.0032607163302600384, -0.03393356874585152, 0.006541684735566378, 0.0008402863750234246, 0.4103913903236389, -1.150142788887024, 0.0009815080557018518, 1.1347073316574097, -1.5976476669311523, -0.7690106630325317, -0.4224071502685547, 0.03500761464238167, -0.31866350769996643, -0.0830414667725563, -0.31074750423431396, 0.006956168916076422, 0.014388413168489933, -0.0016716055106371641, 0.0034881895408034325, 0.005494896788150072, 0.03664037212729454, 0.0013362271711230278, 0.0033843026030808687, 0.006011040881276131, 0.011950971558690071, 0.0018253830494359136, 0.007154014892876148, 0.005475386045873165, 0.010212194174528122, 0.05191805213689804, 0.0006164769292809069, 0.00683809956535697, 0.0008158980635926127, 0.5624915957450867, -1.1069588661193848, 0.5059260129928589, -0.031446605920791626, -0.005944175645709038, -0.16864201426506042, -0.7928763031959534], "max": [1.0496858358383179, -0.5048941969871521, 0.4786427617073059, 1.6121448278427124, -0.0005467202863655984, -0.30080896615982056, 0.582496702671051, 1.2383224964141846, -6.666945409961045e-05, 0.5133228898048401, -0.005149133037775755, 1.0858111381530762, 1.1748944520950317, 0.1643175482749939, 0.2207859456539154, 0.09295740723609924, 1.2654179334640503, 0.14943166077136993, 0.02436095103621483, 0.21086442470550537, 0.9738011956214905, 0.1285632997751236, 0.18899159133434296, 0.36452776193618774, 0.06160818785429001, 0.7305262684822083, 0.18979981541633606, 0.20358894765377045, 0.17798462510108948, 1.2851907014846802, -0.2317301630973816, 0.9160786271095276, 1.9103541374206543, -0.0010251306230202317, -0.04586315155029297, 0.5189377665519714, 1.3367654085159302, -0.0014600508147850633, 0.5435969829559326, 0.3145333230495453, 0.6454635858535767, 1.4612654447555542, 0.13915053009986877, 0.11003326624631882, 0.5488431453704834, 1.4667009115219116, 0.2221222221851349, 1.6533489227294922, 1.1649166345596313, 1.4665580987930298, 0.24262040853500366, 1.6558603048324585, 0.9334721565246582, 0.12466669082641602, 1.4671355485916138, 0.1948854923248291, 1.6534290313720703, 1.3081449270248413, 0.5629709362983704, -1.106767177581787, 0.5435085892677307, -0.00028762139845639467, 0.04055461660027504, 0.07650729268789291, -0.45655104517936707], "mean": [0.9071586728096008, -0.5954886078834534, 0.2816027104854584, 1.2507927417755127, -0.5554249882698059, -0.4776332974433899, 0.5115405917167664, 1.2005350589752197, -0.1559753715991974, 0.40111297369003296, -0.3087003827095032, 0.7755314111709595, 1.1256613731384277, 0.13752052187919617, 0.13828755915164948, 0.08885838091373444, 1.1935436725616455, 0.11073053628206253, 0.0037926656659692526, 0.1835135519504547, 0.9370837211608887, 0.024700837209820747, 0.12920129299163818, 0.3469882905483246, 0.051687922328710556, 0.6828912496566772, 0.016166431829333305, 0.16375209391117096, 0.1397686004638672, 0.9513768553733826, -0.7178882956504822, 0.36542248725891113, 1.4062618017196655, -1.153883695602417, -0.29061418771743774, -0.10419417172670364, 1.2347469329833984, -0.23335956037044525, 0.22645699977874756, -0.06769490987062454, 0.5768395662307739, 1.2071510553359985, 0.06771047413349152, 0.10159061849117279, 0.47148382663726807, 1.4046969413757324, 0.17432692646980286, 1.4024428129196167, 1.0530683994293213, 1.3017281293869019, 0.16961678862571716, 1.4553728103637695, 0.8389089107513428, 0.10491713881492615, 1.406475305557251, 0.1277061551809311, 1.3234957456588745, 1.0640008449554443, 0.5626839399337769, -1.1068439483642578, 0.5161674618721008, -0.017496241256594658, 0.01865629106760025, -0.03982126712799072, -0.6679288744926453], "std": [0.06243195757269859, 0.08802931010723114, 0.054845720529556274, 0.15575087070465088, 0.16168400645256042, 0.05186307802796364, 0.03630895912647247, 0.14482995867729187, 0.019889645278453827, 0.17453822493553162, 0.03545933961868286, 0.09832017868757248, 0.1505914032459259, 0.03407685086131096, 0.049427423626184464, 0.010938589461147785, 0.19250613451004028, 0.02001884952187538, 0.0013880322221666574, 0.05684038996696472, 0.1263076364994049, 0.018130799755454063, 0.0496949665248394, 0.05512708052992821, 0.007250306196510792, 0.08398309350013733, 0.027807969599962234, 0.03792734816670418, 0.03313768282532692, 0.26601624488830566, 0.20969781279563904, 0.2125244140625, 0.19850192964076996, 0.37482792139053345, 0.13492226600646973, 0.18165114521980286, 0.14009809494018555, 0.06038393825292587, 0.2129959911108017, 0.2040286362171173, 0.07116921246051788, 0.18999122083187103, 0.03209083899855614, 0.012844848446547985, 0.08330552279949188, 0.17081773281097412, 0.024229401722550392, 0.535262942314148, 0.18748463690280914, 0.2558792233467102, 0.02705223858356476, 0.46475186944007874, 0.12397980690002441, 0.026596661657094955, 0.1709752380847931, 0.02958531863987446, 0.573667585849762, 0.4529365301132202, 4.735119000542909e-05, 3.750556061277166e-05, 0.007099323906004429, 0.006388980895280838, 0.011215251870453358, 0.06578481197357178, 0.09165357798337936], "count": [1656]}, "observation.state.joint_torque": {"min": [-38.56949996948242, -23.581499099731445, -20.02899932861328, -19.430999755859375, -0.20000000298023224, -2.6528000831604004, -1.1519999504089355, -1.144901156425476, -0.5641726851463318, -0.841300904750824, -0.8586984872817993, -0.3187691569328308, -0.4950835108757019, -0.5008403658866882, -0.24073712527751923, -0.038529157638549805, -0.5507324934005737, -0.34636661410331726, -0.04648716747760773, -0.019978083670139313, -0.550732433795929, -0.7042467594146729, -0.1062563955783844, -0.027826614677906036, -0.07212737947702408, -0.3857046365737915, -0.42024534940719604, -0.11621791869401932, -0.026399608701467514, 4.48799991607666, -25.496999740600586, -0.1289999932050705, -17.520000457763672, -1.9687999486923218, -1.9911999702453613, -3.5776000022888184, -1.3830509185791016, -1.0863189697265625, -1.019005537033081, -0.7679821252822876, -0.12119869887828827, -0.5382594466209412, -1.141762375831604, -0.08301279693841934, -0.05993425101041794, -0.41544800996780396, -0.3290962278842926, -0.5445640087127686, -0.04780469834804535, -0.7138413786888123, -0.5229080319404602, -0.13116022944450378, -0.02996712550520897, -0.05145672708749771, -0.7531794905662537, -1.0160726308822632, -0.3453332483768463, -0.06207476183772087, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-9.354000091552734, 21.1560001373291, -0.7419999837875366, 2.946000099182129, 1.7527999877929688, 1.6720000505447388, 4.01200008392334, 0.9589662551879883, 0.965333878993988, 1.1917393207550049, 0.8624265789985657, 0.2390768826007843, 0.7138413786888123, 0.6351653337478638, 0.3519743084907532, 0.05565322935581207, 0.899977445602417, 0.9018963575363159, 0.059769220650196075, 0.07563132047653198, 0.5305837392807007, 0.322380006313324, 0.09463459998369217, 0.03139413148164749, 0.16536520421504974, 0.46725910902023315, 0.4595833718776703, 0.10957689583301544, 0.019978083670139313, 49.65599822998047, 20.191499710083008, 27.472999572753906, 1.9589999914169312, 0.00559999980032444, 3.3215999603271484, 0.892799973487854, 1.7383650541305542, 3.2793333530426025, 1.6043123006820679, 1.745978832244873, 0.3436730206012726, 2.1405649185180664, 0.6927331686019897, 1.0559228658676147, 0.21405088901519775, 0.47973209619522095, 0.3905019462108612, 0.20587176084518433, 0.021405089646577835, 0.9565858244895935, 1.0880324840545654, 0.19757047295570374, 0.02425910159945488, 0.49169760942459106, 0.41736695170402527, 0.4384751617908478, 0.21417304873466492, 0.03496164828538895, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.88627815246582, 1.8518842458724976, -13.787967681884766, -6.809998989105225, 0.3556000590324402, 0.42051979899406433, 1.8043266534805298, -0.024703826755285263, 0.038447484374046326, 0.12355455011129379, 0.0569191575050354, 0.0033485826570540667, 0.057680655270814896, 0.061966948211193085, 0.021837985143065453, 0.02120864763855934, 0.04998890310525894, 0.07592346519231796, -0.0009664768003858626, 0.010119159705936909, 0.007743478752672672, -0.038650449365377426, -0.0014066111762076616, 0.001432177727110684, 0.006785849574953318, 0.010194892063736916, 0.0072423359379172325, -0.002915474819019437, -0.0015433375956490636, 27.892221450805664, 4.240447044372559, 14.368285179138184, -5.98482608795166, -0.6261275410652161, 1.2246836423873901, -1.1506688594818115, 0.0743037685751915, 0.40804240107536316, 0.13531364500522614, 0.047779008746147156, 0.03508491441607475, 0.24692633748054504, -0.0942869782447815, 0.1218574047088623, 0.034761276096105576, 0.01425462868064642, 0.006181465461850166, -0.0005724671646021307, 0.002032364020124078, -0.023969776928424835, 0.12962450087070465, 0.0022848579101264477, -0.0001533851318527013, 0.21984629333019257, -0.005109037272632122, -0.11303935945034027, 0.001229157205671072, -0.0001813918206607923, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.8323135375976562, 1.9225759506225586, 1.2844620943069458, 1.088560938835144, 0.25882476568222046, 0.42172548174858093, 0.53139328956604, 0.18802984058856964, 0.13358719646930695, 0.2686719596385956, 0.16302257776260376, 0.029192304238677025, 0.1409609615802765, 0.1344340294599533, 0.06344237923622131, 0.013199584558606148, 0.15936799347400665, 0.15044911205768585, 0.006705569103360176, 0.013881481252610683, 0.10110944509506226, 0.1025993749499321, 0.015300766564905643, 0.006278551649302244, 0.020045066252350807, 0.072646863758564, 0.06394127011299133, 0.017525969073176384, 0.0065446472726762295, 5.282504558563232, 3.79325795173645, 2.3337037563323975, 2.937126398086548, 0.2668072283267975, 0.662604808807373, 0.6036795973777771, 0.4357697665691376, 0.733019232749939, 0.3052704930305481, 0.3171657919883728, 0.059109192341566086, 0.5042500495910645, 0.24837639927864075, 0.21705321967601776, 0.05958208441734314, 0.07248764485120773, 0.05424482747912407, 0.023161882534623146, 0.0057058981619775295, 0.17463648319244385, 0.21418844163417816, 0.015000461600720882, 0.006608626805245876, 0.19371096789836884, 0.11760852485895157, 0.1888013780117035, 0.02491120994091034, 0.005128127988427877, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1656]}, "observation.state.tcp": {"min": [0.3392679691314697, 0.15929432213306427, 1.0113338232040405, -1.3226433992385864, 0.9391060471534729, -1.5915477275848389, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2875531315803528, -0.3084011375904083, 0.9878963232040405, -0.2820565402507782, 0.7343013882637024, 0.2557183802127838, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.43035826086997986, 0.2697291374206543, 1.136983871459961, -0.4046625792980194, 1.3545777797698975, -1.229661464691162, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4765862226486206, -0.05658629536628723, 1.2592953443527222, 1.208038330078125, 2.015474557876587, 1.5213083028793335, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.40115809440612793, 0.1879696249961853, 1.0683238506317139, -0.749453604221344, 1.150037407875061, -1.383506178855896, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3965685963630676, -0.19604884088039398, 1.124893307685852, 0.3935476243495941, 1.5501514673233032, 0.8546208739280701, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.027494117617607117, 0.018115244805812836, 0.018738901242613792, 0.18385636806488037, 0.060030244290828705, 0.09024936705827713, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0614207461476326, 0.0780525952577591, 0.0839112177491188, 0.37399300932884216, 0.27329760789871216, 0.35290613770484924, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1656]}, "action": {"min": [0.7124059796333313, -0.8350639343261719, 0.0008847255958244205, 1.1056623458862305, -0.8300880193710327, -0.7690718173980713, 0.3192761242389679, 0.0, -0.19605118036270142, -0.2489064484834671, -0.3490658402442932, 0.0, 0.0, -0.01206929236650467, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.03642136603593826, 0.0, 0.0, 0.0, 0.0, -0.0338328555226326, 0.0, 0.0, 0.41035571694374084, -1.1502635478973389, 0.0012506282655522227, 1.1347029209136963, -1.5976893901824951, -0.7682586908340454, -0.4228041470050812, 0.0, -0.33525997400283813, -0.08548322319984436, -0.3123461604118347, 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, 0.5626833438873291, -1.1069231033325195, 0.5054318904876709, -0.03185621649026871, -0.006905013229697943, -0.16873566806316376, -0.7932994365692139], "max": [1.049686074256897, -0.5047544836997986, 0.4785422086715698, 1.612204909324646, -0.0003611224237829447, -0.30082783102989197, 0.5825112462043762, 1.24703049659729, 0.0, 0.5174798369407654, 0.0, 1.0902581214904785, 1.1804405450820923, 0.17191261053085327, 0.22917640209197998, 0.09480000287294388, 1.272892951965332, 0.15158742666244507, 0.03197285905480385, 0.21018391847610474, 0.9790028929710388, 0.12474244087934494, 0.19422641396522522, 0.367216020822525, 0.07412002235651016, 0.7412002086639404, 0.19262105226516724, 0.21207277476787567, 0.1820068359375, 1.2853325605392456, -0.23173052072525024, 0.9160210490226746, 1.9106789827346802, -0.002128681167960167, -0.045352835208177567, 0.5179430842399597, 1.3406991958618164, 0.0, 0.5494889616966248, 0.3490658402442932, 0.6519417762756348, 1.5235495567321777, 0.12330453842878342, 0.11606054753065109, 0.550737202167511, 1.5707963705062866, 0.22262948751449585, 1.7453292608261108, 1.1687495708465576, 1.5707963705062866, 0.24458473920822144, 1.7453292608261108, 0.9387960433959961, 0.14395450055599213, 1.5707963705062866, 0.20019525289535522, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.5442397594451904, 1.2562855183985861e-18, 0.04089348763227463, 0.07726889848709106, -0.4564356207847595], "mean": [0.9071075916290283, -0.5955831408500671, 0.28156691789627075, 1.2510181665420532, -0.5555875897407532, -0.4776228368282318, 0.511589527130127, 1.1982241868972778, -0.15574218332767487, 0.40584638714790344, -0.3354911506175995, 0.7802713513374329, 1.1274564266204834, 0.14086046814918518, 0.13911715149879456, 0.09064289182424545, 1.1959238052368164, 0.11152636259794235, 0.00027904901071451604, 0.1864214688539505, 0.9377301931381226, 0.025647373870015144, 0.13078275322914124, 0.34900975227355957, 0.06844183802604675, 0.684418261051178, 0.01716931350529194, 0.16525977849960327, 0.1416507363319397, 0.9516878128051758, -0.7185949683189392, 0.3649623692035675, 1.4065585136413574, -1.153388500213623, -0.29060491919517517, -0.10432489216327667, 1.2383396625518799, -0.23232126235961914, 0.2284562736749649, -0.062147900462150574, 0.5799751281738281, 1.214785099029541, 0.06719387322664261, 0.10388528555631638, 0.4743480682373047, 1.4720102548599243, 0.1710665374994278, 1.4640053510665894, 1.0546282529830933, 1.3461370468139648, 0.1699286252260208, 1.5305873155593872, 0.8408638834953308, 0.11824160814285278, 1.4960741996765137, 0.12789806723594666, 1.3741192817687988, 1.1220039129257202, 0.5626831650733948, -1.106845736503601, 0.5162249207496643, -0.017537761479616165, 0.01869642734527588, -0.03985822945833206, -0.6680330038070679], "std": [0.06253828853368759, 0.08812903612852097, 0.055113285779953, 0.15604838728904724, 0.16164134442806244, 0.052018217742443085, 0.03630629554390907, 0.15830391645431519, 0.022175537422299385, 0.17722058296203613, 0.04467245936393738, 0.11620531976222992, 0.1623101830482483, 0.03604600578546524, 0.050724469125270844, 0.012142416089773178, 0.19985917210578918, 0.02161094732582569, 0.002266386989504099, 0.05780787393450737, 0.13531729578971863, 0.018437128514051437, 0.05175222083926201, 0.05846137925982475, 0.009391547180712223, 0.09391548484563828, 0.027384895831346512, 0.03853810206055641, 0.03303571417927742, 0.2666991949081421, 0.21000362932682037, 0.2124652862548828, 0.1987990438938141, 0.37521108984947205, 0.13483765721321106, 0.1816754937171936, 0.1566651463508606, 0.06530619412660599, 0.21321462094783783, 0.2170153707265854, 0.08217275142669678, 0.2073705941438675, 0.029846595600247383, 0.014672582037746906, 0.08850385248661041, 0.21166253089904785, 0.02553386054933071, 0.5623181462287903, 0.1938825100660324, 0.2917628884315491, 0.02911710925400257, 0.49736082553863525, 0.13081306219100952, 0.02936798706650734, 0.21578839421272278, 0.031713519245386124, 0.602885901927948, 0.4840787947177887, 1.796518205310349e-07, 1.907676414703019e-05, 0.007198384962975979, 0.0064336033537983894, 0.011286349967122078, 0.06584696471691132, 0.09174073487520218], "count": [1656]}, "observation.state.tcp_pose": {"min": [0.3392679691314697, 0.15929432213306427, 1.0113338232040405, -1.3226433992385864, 0.9391060471534729, -1.5915477275848389, 0.2875531315803528, -0.3084011375904083, 0.9878963232040405, -0.2820565402507782, 0.7343013882637024, 0.2557183802127838], "max": [0.43035826086997986, 0.2697291374206543, 1.136983871459961, -0.4046625792980194, 1.3545777797698975, -1.229661464691162, 0.4765862226486206, -0.05658629536628723, 1.2592953443527222, 1.208038330078125, 2.015474557876587, 1.5213083028793335], "mean": [0.40115809440612793, 0.1879696249961853, 1.0683238506317139, -0.749453604221344, 1.150037407875061, -1.383506178855896, 0.3965685963630676, -0.19604884088039398, 1.124893307685852, 0.3935476243495941, 1.5501514673233032, 0.8546208739280701], "std": [0.027494117617607117, 0.018115244805812836, 0.018738901242613792, 0.18385636806488037, 0.060030244290828705, 0.09024936705827713, 0.0614207461476326, 0.0780525952577591, 0.0839112177491188, 0.37399300932884216, 0.27329760789871216, 0.35290613770484924], "count": [1656]}, "action.tcp_pose": {"min": [0.3392886519432068, 0.15950459241867065, 1.0108027458190918, -1.3228516578674316, 0.940858006477356, -1.5929789543151855, 0.28769534826278687, -0.3105241358280182, 0.987855076789856, -0.2839110791683197, 0.7303018569946289, 0.2555161714553833], "max": [0.43059563636779785, 0.2702792286872864, 1.137387990951538, -0.4050777852535248, 1.3565208911895752, -1.2293956279754639, 0.4767000675201416, -0.05622228607535362, 1.265785813331604, 1.2082993984222412, 2.015554189682007, 1.5252535343170166], "mean": [0.4011063873767853, 0.18796886503696442, 1.0682916641235352, -0.7493022680282593, 1.1501444578170776, -1.3835902214050293, 0.3964739143848419, -0.1962270736694336, 1.1249427795410156, 0.3935529887676239, 1.5504448413848877, 0.8541707992553711], "std": [0.027532946318387985, 0.018067002296447754, 0.01887599006295204, 0.18374064564704895, 0.06009639799594879, 0.09031619131565094, 0.061545003205537796, 0.07836145162582397, 0.08411576598882675, 0.3744487762451172, 0.27308735251426697, 0.3530115485191345], "count": [1656]}, "subtask_index": {"min": [0], "max": [21], "mean": [10.144927536231885], "std": [7.150859606417332], "count": [1656]}, "observation.tactile": {"min": [-7.788021087646484, -0.000457763671875, -0.0028076171875, -0.12037372589111328, -0.025105953216552734, -0.1633741855621338, -3.009309768676758, -0.001708984375, -0.00189208984375, -0.08670902252197266, -0.013440608978271484, -0.055016517639160156, -5.758752822875977, -0.003936767578125, -0.00634765625, -0.19420146942138672, -0.018530845642089844, -0.1030418872833252, -0.01683807373046875, -0.006683349609375, -0.00341796875, -0.00038814544677734375, -0.0005383491516113281, -0.0003218650817871094, -0.032756805419921875, -0.0102081298828125, -0.00372314453125, -0.00035858154296875, -0.0012135505676269531, -0.0005724430084228516, -1.4728546142578125, -0.008636474609375, -0.0103759765625, -0.35239315032958984, -0.055081844329833984, -0.042115211486816406, -6.555995941162109, -0.008331298828125, -0.005126953125, -0.17696285247802734, -0.022018909454345703, -0.12400102615356445, -0.035572052001953125, -0.006256103515625, -0.00457763671875, -6.29425048828125e-05, -0.0013666152954101562, -0.0005512237548828125, -0.01894378662109375, -0.022003173828125, -0.01055908203125, -0.005793571472167969, -0.0018720626831054688, -0.00061798095703125, -0.08357810974121094, -0.0205078125, -0.00860595703125, -0.00020122528076171875, -0.0007624626159667969, -0.0012781620025634766], "max": [0.009037017822265625, 5.95135498046875, 5.70269775390625, 0.0009002685546875, 0.005220890045166016, 0.0026013851165771484, 2.684049606323242, 4.2745361328125, 7.11993408203125, 0.0020208358764648438, 0.018763065338134766, 0.041693687438964844, 5.084997177124023, 7.686248779296875, 14.00213623046875, 0.0013599395751953125, 0.019738197326660156, 0.0878760814666748, 0.008953094482421875, 0.005157470703125, 0.00677490234375, 0.000507354736328125, 0.00022411346435546875, 3.24249267578125e-05, 0.018802642822265625, 0.0131988525390625, 0.0126953125, 0.0012054443359375, 0.00024366378784179688, 0.0, 7.7976531982421875, 18.844207763671875, 15.67315673828125, 0.0034265518188476562, 0.044649600982666016, 0.1352529525756836, 1.1402931213378906, 9.07086181640625, 7.930908203125, 0.013283729553222656, 0.010711193084716797, 0.026999950408935547, 0.024608612060546875, 0.0081787109375, 0.03607177734375, 0.0016078948974609375, 0.0004801750183105469, 5.2928924560546875e-05, 0.5741119384765625, 0.30584716796875, 0.3333740234375, 0.0013561248779296875, 0.0021715164184570312, 0.0058460235595703125, 0.007909774780273438, 0.0096893310546875, 0.0496826171875, 0.0009212493896484375, 0.0003838539123535156, 0.00043201446533203125], "mean": [-2.7464230060577393, 2.604332685470581, 2.0782063007354736, -0.04294150695204735, -0.005021827761083841, -0.05817541852593422, 0.9595566987991333, 1.2143892049789429, 3.081834077835083, -0.04061293601989746, -0.002932255621999502, 0.015541424043476582, 0.13796600699424744, 0.8629365563392639, 1.9153385162353516, -0.0276798065751791, 0.00024941563606262207, 0.0027692054864019156, 0.00021184929937589914, -0.0011002544779330492, 0.0016918458277359605, -8.319886546814814e-06, -2.136005787178874e-05, -8.141685248119757e-05, 0.004360383376479149, 0.0029614490922540426, 0.0003371676430106163, 0.0005204924964345992, -0.0005485968431457877, -0.000200442795176059, 1.1989212036132812, 2.5167860984802246, 2.457397699356079, -0.05737586319446564, -0.004739109892398119, 0.02482534572482109, -0.7430495023727417, 1.1391370296478271, 1.5769741535186768, -0.03370506316423416, -0.003322075353935361, -0.014090179465711117, 0.005627775099128485, 0.0015741338720545173, 0.0008440985111519694, 0.0008871370810084045, -0.0007675813976675272, -0.0003315237700007856, 0.01614018715918064, 0.00218537007458508, -0.0009710155427455902, 0.0006518876762129366, -0.00045868020970374346, -0.00013213104102760553, -0.006748985964804888, 0.0005141916917636991, -0.000461486226413399, 0.00033637750311754644, -0.0001882395299617201, -0.00013322653830982745], "std": [1.3019189834594727, 1.273586630821228, 1.0230751037597656, 0.02162828855216503, 0.0038801529444754124, 0.02796313911676407, 0.8495660424232483, 0.8088739514350891, 1.559070348739624, 0.02069959230720997, 0.0043403091840445995, 0.014354045502841473, 1.093090295791626, 1.1279292106628418, 1.9970858097076416, 0.024634823203086853, 0.004632127936929464, 0.01988252066075802, 0.0030779363587498665, 0.0016565534751862288, 0.0015318008372560143, 0.00011760544293792918, 8.333695586770773e-05, 4.894306403002702e-05, 0.0021839456167072058, 0.001400938956066966, 0.001234959694556892, 0.00014145998284220695, 0.00011964701843680814, 4.4464002712629735e-05, 1.6698654890060425, 4.152462005615234, 3.939023971557617, 0.0898413211107254, 0.012158132158219814, 0.03594231605529785, 1.2994709014892578, 1.6620604991912842, 2.2771406173706055, 0.05112069472670555, 0.005280573386698961, 0.0259244441986084, 0.0077749136835336685, 0.00191591982729733, 0.0019721444696187973, 0.0003008772328030318, 0.000293234916171059, 8.968702604761347e-05, 0.043891433626413345, 0.008890451863408089, 0.009548702277243137, 0.00034553735167719424, 0.0004249810881447047, 0.0004297581617720425, 0.008157470263540745, 0.0025557049084454775, 0.0023861813824623823, 0.00015439912385772914, 0.00012063545000273734, 9.94934598566033e-05], "count": [1656]}, "timestamp": {"min": [0.0], "max": [55.166666666666664], "mean": [27.583333333333332], "std": [15.93486452428785], "count": [1656]}, "frame_index": {"min": [0], "max": [1655], "mean": [827.5], "std": [478.04593572863547], "count": [1656]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1656]}, "index": {"min": [0], "max": [1655], "mean": [827.5], "std": [478.04593572863547], "count": [1656]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1656]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3370802700519562]], [[0.3362804055213928]], [[0.3360965847969055]]], "std": [[[0.2127695083618164]], [[0.21273329854011536]], [[0.21274486184120178]]], "count": [1656]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30446818470954895]], [[0.306625634431839]], [[0.30495506525039673]]], "std": [[[0.17206928133964539]], [[0.17440974712371826]], [[0.17308272421360016]]], "count": [1656]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31089484691619873]], [[0.31040722131729126]], [[0.3084351122379303]]], "std": [[[0.17492474615573883]], [[0.17594067752361298]], [[0.17443732917308807]]], "count": [1656]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3340686559677124]], [[0.33328038454055786]], [[0.33328232169151306]]], "std": [[[0.2126125693321228]], [[0.2125934213399887]], [[0.2126913070678711]]], "count": [1656]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6980392336845398]], [[0.6980392336845398]], [[0.6980392336845398]]], "mean": [[[0.0059125530533492565]], [[0.0059125530533492565]], [[0.0059125530533492565]]], "std": [[[0.04990766569972038]], [[0.04990766569972038]], [[0.04990766569972038]]], "count": [1656]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47444185614585876]], [[0.47444185614585876]], [[0.47444185614585876]]], "std": [[[0.1536099910736084]], [[0.1536099910736084]], [[0.1536099910736084]]], "count": [1656]}}}
+{"episode_index": 1, "stats": {"observation.state": {"min": [0.671829104423523, -0.8200783729553223, 0.0002635330893099308, 1.0952038764953613, -0.7314422130584717, -0.7697182893753052, 0.2603432834148407, 0.007478583138436079, -0.18974880874156952, -0.17016345262527466, -0.3171701729297638, 0.0024897404946386814, 0.0031544952653348446, -0.00019919523037970066, 0.003429686650633812, 0.0008367390255443752, 0.0038116921205073595, -0.0006314386264421046, 0.003493508091196418, 0.0008562495931982994, 0.0033715981990098953, 0.00015135889407247305, 0.0030868242029100657, 0.0008828549762256444, 0.005929730366915464, 0.0032710193190723658, 7.065042154863477e-05, 0.006545585114508867, 0.00085270224371925, 0.1385691910982132, -1.107447624206543, 0.0005631387466564775, 1.156471610069275, -1.5951881408691406, -0.7692341208457947, -0.36951079964637756, 0.02876107022166252, -0.3131217658519745, -0.06613035500049591, -0.31614628434181213, 0.006882774643599987, 0.014057484455406666, -0.0016850655665621161, 0.003499535610899329, 0.0054784901440143585, 0.03656923398375511, 0.0012891271617263556, 0.003390684723854065, 0.006555120460689068, 0.013889198191463947, -0.00013173359911888838, 0.0103986207395792, 0.005446119699627161, 0.010434826835989952, 0.047971680760383606, 0.001077909953892231, 0.0068044159561395645, 0.0008345218957401812, 0.5624915957450867, -1.1069588661193848, 0.4928871989250183, -0.025981798768043518, 0.0, -0.20008862018585205, -0.8016008138656616], "max": [1.0499082803726196, -0.515249490737915, 0.40732860565185547, 1.5758832693099976, -0.00019390475063119084, -0.3720172941684723, 0.519900381565094, 1.2264004945755005, 0.00024861193378455937, 0.4994467794895172, -0.002463007578626275, 0.9545261859893799, 1.128720998764038, 0.17637401819229126, 0.4143850803375244, 0.08749399334192276, 1.238021731376648, 0.15579387545585632, 0.052285969257354736, 0.21199560165405273, 0.980940580368042, 0.10192927718162537, 0.0032399955671280622, 0.35076168179512024, 0.05870111659169197, 0.7289548516273499, 0.14648470282554626, 0.10386104136705399, 0.09173843264579773, 1.3452050685882568, -0.26984572410583496, 0.9929347038269043, 1.9064586162567139, -0.0009413608931936324, -0.057656947523355484, 0.5190830826759338, 1.3419246673583984, -0.00010280531569151208, 0.6041545271873474, 0.31462591886520386, 0.6338087916374207, 1.4599289894104004, 0.13384410738945007, 0.10825903713703156, 0.5587190389633179, 1.4668395519256592, 0.20538881421089172, 1.6533379554748535, 1.2340298891067505, 1.4668172597885132, 0.2423475980758667, 1.6541520357131958, 0.9565758109092712, 0.13660107553005219, 1.4669026136398315, 0.20556296408176422, 1.6534404754638672, 1.3080713748931885, 0.5629709362983704, -1.1066712141036987, 0.5441796779632568, 0.00028762139845639467, 0.048703890293836594, 0.07526092976331711, -0.5181019902229309], "mean": [0.9214338660240173, -0.5921558737754822, 0.27247998118400574, 1.2641541957855225, -0.5447324514389038, -0.4625365138053894, 0.45690834522247314, 1.1873211860656738, -0.16129155457019806, 0.40222620964050293, -0.3076898455619812, 0.7827586531639099, 1.08078932762146, 0.1546919047832489, 0.19916288554668427, 0.08481722325086594, 1.168045163154602, 0.1340843141078949, 0.005464623682200909, 0.1869216412305832, 0.9347432255744934, 0.03965378552675247, 0.0031620212830603123, 0.3380168676376343, 0.05713587999343872, 0.6956662535667419, 0.04607393965125084, 0.08914434909820557, 0.07582832872867584, 0.8822453618049622, -0.7398431897163391, 0.38617080450057983, 1.4484854936599731, -1.150229573249817, -0.3624054491519928, -0.0663643404841423, 1.238232970237732, -0.24266405403614044, 0.2677031457424164, -0.09412127733230591, 0.5882225632667542, 1.2136824131011963, 0.06688573211431503, 0.09979467839002609, 0.49148789048194885, 1.3927407264709473, 0.1665225476026535, 1.3964484930038452, 1.050647497177124, 1.305262804031372, 0.15326696634292603, 1.4505670070648193, 0.8493413925170898, 0.10653530806303024, 1.4126262664794922, 0.11063476651906967, 1.3817394971847534, 1.0977424383163452, 0.5626829862594604, -1.1068475246429443, 0.5100110769271851, -0.014084375463426113, 0.024937694892287254, -0.028036680072546005, -0.6609641313552856], "std": [0.05702836811542511, 0.06847493350505829, 0.049170464277267456, 0.11131003499031067, 0.13888496160507202, 0.03968226537108421, 0.030211884528398514, 0.1532622128725052, 0.020935071632266045, 0.16740141808986664, 0.03789720684289932, 0.0988197922706604, 0.1461641788482666, 0.0277622751891613, 0.07853248715400696, 0.01060419250279665, 0.19175869226455688, 0.017808962613344193, 0.007049220148473978, 0.05540723353624344, 0.13159483671188354, 0.011713613756000996, 1.4871674466121476e-05, 0.047753218561410904, 0.0066423858515918255, 0.08751017600297928, 0.019906748086214066, 0.022460464388132095, 0.019768930971622467, 0.2957547903060913, 0.20623208582401276, 0.25866228342056274, 0.20018617808818817, 0.39124149084091187, 0.141839861869812, 0.15986484289169312, 0.14637857675552368, 0.0495031513273716, 0.20971937477588654, 0.1483900249004364, 0.07438631355762482, 0.2045932114124298, 0.036547690629959106, 0.013290888629853725, 0.06885194033384323, 0.1858786940574646, 0.02537519857287407, 0.5629901885986328, 0.20056487619876862, 0.2913743257522583, 0.030188580974936485, 0.4603019058704376, 0.13955700397491455, 0.02921164035797119, 0.1651047021150589, 0.030929675325751305, 0.5870427489280701, 0.4631003737449646, 4.96840693813283e-05, 3.739629755727947e-05, 0.010195659473538399, 0.007332615554332733, 0.010364181362092495, 0.06857562810182571, 0.08595288544893265], "count": [1512]}, "observation.state.joint_torque": {"min": [-49.90650177001953, -4.495500087738037, -24.334999084472656, -9.875, -0.17599999904632568, -0.8136000037193298, 0.47279998660087585, -1.0200955867767334, -0.5297874212265015, -0.8524850606918335, -0.9481721520423889, -0.3287307322025299, -0.4144885540008545, -0.5603271126747131, -0.22413457930088043, -0.04138316959142685, -0.49796193838119507, -0.3511638939380646, -0.0796922892332077, -0.027113113552331924, -0.5651244521141052, -0.9738562703132629, -0.0016602561809122562, -0.028540121391415596, -0.10555225610733032, -0.34252873063087463, -0.5718407034873962, -0.09961536526679993, -0.027113113552331924, 12.952500343322754, -3.9195001125335693, 4.89900016784668, -13.8100004196167, -1.7503999471664429, -0.951200008392334, -3.135200023651123, -1.8122296333312988, -0.9640603065490723, -1.1780697107315063, -0.7468563914299011, -0.1145576685667038, -0.4730159044265747, -1.3077497482299805, -0.09131408482789993, -0.013556556776165962, -0.9575453400611877, -0.34444767236709595, -0.7122498750686646, -0.01855107769370079, -0.7215170860290527, -0.515232264995575, -0.7653780579566956, -0.022832093760371208, -0.06948857009410858, -0.6773817539215088, -1.1388840675354004, -0.3337114453315735, -0.0642152652144432, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-9.898500442504883, 12.53849983215332, -2.678999900817871, -2.305000066757202, 1.7192000150680542, 1.3375999927520752, 3.9447999000549316, 0.8519898653030396, 0.7793988585472107, 0.9953943490982056, 0.940716028213501, 0.10791664570569992, 0.42983996868133545, 0.5142728090286255, 0.2108525186777115, 0.044950686395168304, 0.5775974988937378, 0.6850574612617493, 0.06973075866699219, 0.02354559674859047, 0.5680028200149536, 0.2532985806465149, 0.0016602561809122562, 0.02497260272502899, 0.07124777138233185, 0.34444767236709595, 0.4567049741744995, 0.12783971428871155, 0.022118592634797096, 47.62649917602539, 15.711000442504883, 27.525999069213867, 0.8679999709129333, -0.0544000007212162, 3.093600034713745, 0.9031999707221985, 1.6759620904922485, 3.79001784324646, 1.75592041015625, 1.3470754623413086, 0.3602755665779114, 2.1396052837371826, 0.8404906988143921, 1.0592433214187622, 0.21476440131664276, 0.5027592778205872, 0.34252873063087463, 0.7836409211158752, 0.022118592634797096, 0.6063814163208008, 1.458385705947876, 0.5628268122673035, 0.032821137458086014, 0.49213743209838867, 0.493164598941803, 0.4096912145614624, 0.42668578028678894, 0.08205283433198929, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-30.347026824951172, 1.6820472478866577, -14.181859970092773, -6.747804641723633, 0.36429375410079956, 0.40548476576805115, 1.9429224729537964, -0.03742923587560654, 0.014012156054377556, 0.11991622298955917, 0.024799523875117302, -0.00140880246181041, 0.03475147485733032, 0.03345569595694542, 0.00809925701469183, 0.01504866685718298, 0.0034006235655397177, 0.10178520530462265, -0.0021631657145917416, 0.003036165377125144, -0.004483830649405718, -0.06999678164720535, -8.78442278917646e-06, 0.00046151140122674406, -1.076305125025101e-05, 0.006201601587235928, -0.004669765010476112, -0.00041725911432877183, -0.001299594179727137, 26.83721923828125, 4.644313812255859, 14.213155746459961, -6.484285831451416, -0.6673474311828613, 1.2089009284973145, -1.1961705684661865, 0.015388385392725468, 0.39497873187065125, 0.16683027148246765, 0.06520914286375046, 0.043425798416137695, 0.28789380192756653, -0.08914138376712799, 0.13979975879192352, 0.0377131886780262, 0.0015864104498177767, 0.0014912285842001438, 0.002697917865589261, 0.0008083526045084, -0.026744430884718895, 0.1912875473499298, 0.0019259876571595669, -0.0002944589068647474, 0.25593313574790955, -0.007724571041762829, -0.10214041918516159, -0.0002997687552124262, 0.00031711277551949024, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.1399123668670654, 1.5613795518875122, 0.937719464302063, 0.8912666440010071, 0.2506203055381775, 0.3590853810310364, 0.32909390330314636, 0.2049235850572586, 0.11186932027339935, 0.23603416979312897, 0.1630648672580719, 0.02329963818192482, 0.08956660330295563, 0.1009509488940239, 0.048501744866371155, 0.011144928634166718, 0.14504942297935486, 0.1506262719631195, 0.010279224254190922, 0.005783306434750557, 0.12043261528015137, 0.15010319650173187, 0.00017056052456609905, 0.005279310513287783, 0.007139135152101517, 0.06063739210367203, 0.06880924850702286, 0.014620030298829079, 0.006991819944232702, 5.233375549316406, 3.74587082862854, 1.982325792312622, 3.021817445755005, 0.251537024974823, 0.6278418898582458, 0.6085444092750549, 0.4005553722381592, 0.725940465927124, 0.3525262176990509, 0.33643004298210144, 0.07406345754861832, 0.5536958575248718, 0.37196797132492065, 0.21979038417339325, 0.06285446137189865, 0.08748891949653625, 0.06107955425977707, 0.03321586549282074, 0.005738511681556702, 0.169241800904274, 0.2731592059135437, 0.027949776500463486, 0.008061240427196026, 0.20405210554599762, 0.10270685702562332, 0.20563086867332458, 0.02602819725871086, 0.00559673085808754, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1512]}, "observation.state.tcp": {"min": [0.33614277839660645, 0.15507416427135468, 1.011340618133545, -1.238018274307251, 1.0533151626586914, -1.582798719406128, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2649615406990051, -0.3207412660121918, 0.9849886894226074, -0.22965238988399506, 0.7955828905105591, 0.3234449028968811, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.43524718284606934, 0.26324859261512756, 1.1304000616073608, -0.5340426564216614, 1.3439569473266602, -1.229039192199707, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4557236433029175, -0.0636686235666275, 1.2564246654510498, 1.208430528640747, 1.9758447408676147, 1.4107160568237305, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4000062048435211, 0.1842140257358551, 1.0740492343902588, -0.7758133411407471, 1.1909619569778442, -1.3845593929290771, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.38085824251174927, -0.1994466483592987, 1.1110833883285522, 0.4207243323326111, 1.5061413049697876, 0.8877869248390198, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.021200455725193024, 0.017280887812376022, 0.0182450320571661, 0.15929126739501953, 0.04427533969283104, 0.0680982694029808, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06250165402889252, 0.07593638449907303, 0.08319298923015594, 0.39423227310180664, 0.2782096266746521, 0.3326430916786194, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1512]}, "action": {"min": [0.670925498008728, -0.8203087449073792, 0.0007691836799494922, 1.0929971933364868, -0.7314323782920837, -0.7692369818687439, 0.2603473663330078, 0.0, -0.18713480234146118, -0.17476727068424225, -0.3490658402442932, 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, 0.13682837784290314, -1.1075079441070557, 0.0023842917289584875, 1.156437873840332, -1.595172643661499, -0.7668977975845337, -0.36958765983581543, 0.0, -0.32241290807724, -0.06975990533828735, -0.3403412699699402, 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, 0.5626833438873291, -1.1069231033325195, 0.49206510186195374, -0.027303421869874, -9.35821170037247e-19, -0.2001921534538269, -0.8019714951515198], "max": [1.0498113632202148, -0.5152336955070496, 0.407297283411026, 1.5759449005126953, -0.0005916827940382063, -0.3717045485973358, 0.5196353197097778, 1.2364842891693115, 0.0, 0.5074610114097595, 0.0, 0.9583258628845215, 1.1288663148880005, 0.17919915914535522, 0.41888663172721863, 0.09169363975524902, 1.2419129610061646, 0.16136640310287476, 0.05574442446231842, 0.21545718610286713, 0.988174319267273, 0.10221212357282639, 0.0, 0.35424408316612244, 0.07395704090595245, 0.7395703792572021, 0.15436744689941406, 0.11059999465942383, 0.09479999542236328, 1.3487061262130737, -0.2697354853153229, 0.9942025542259216, 1.906676173210144, -0.004282045178115368, -0.057640206068754196, 0.5153982639312744, 1.3401241302490234, 0.0, 0.6093142032623291, 0.3490658402442932, 0.6399576663970947, 1.537545084953308, 0.13327544927597046, 0.1150209978222847, 0.5620119571685791, 1.5707963705062866, 0.20297521352767944, 1.7453292608261108, 1.2380664348602295, 1.5707963705062866, 0.24602288007736206, 1.7453292608261108, 0.9595048427581787, 0.15409794449806213, 1.5707963705062866, 0.20941239595413208, 1.7453292608261108, 1.3962633609771729, 0.5627789497375488, -1.106863021850586, 0.5442397594451904, 0.0013378069270402193, 0.04902786761522293, 0.07607968896627426, -0.5182608962059021], "mean": [0.9213340282440186, -0.5922201871871948, 0.27245208621025085, 1.2643070220947266, -0.5448048710823059, -0.4625370502471924, 0.456908255815506, 1.1842386722564697, -0.16080763936042786, 0.4079635739326477, -0.34037116169929504, 0.7831130027770996, 1.0820873975753784, 0.15933355689048767, 0.20054739713668823, 0.08868210762739182, 1.169846773147583, 0.13859960436820984, 0.0023911495227366686, 0.19001756608486176, 0.93758225440979, 0.04073711857199669, 0.0, 0.34075620770454407, 0.0698980838060379, 0.6989811658859253, 0.04666567221283913, 0.09107530117034912, 0.07805776596069336, 0.8828017711639404, -0.7402092814445496, 0.38533613085746765, 1.4485104084014893, -1.1496518850326538, -0.36279866099357605, -0.06638192385435104, 1.2394131422042847, -0.24091866612434387, 0.26956748962402344, -0.09448274224996567, 0.5911797285079956, 1.2203997373580933, 0.06705639511346817, 0.10330051928758621, 0.4977708160877228, 1.4672614336013794, 0.16718411445617676, 1.4662396907806396, 1.0522409677505493, 1.3710081577301025, 0.1536208689212799, 1.525161862373352, 0.8510863184928894, 0.12229233235120773, 1.5014183521270752, 0.11117513477802277, 1.4474127292633057, 1.1701141595840454, 0.5626835823059082, -1.1068490743637085, 0.5100623369216919, -0.01412792969495058, 0.024980004876852036, -0.028039973229169846, -0.6610267758369446], "std": [0.05726068466901779, 0.06854379177093506, 0.049393706023693085, 0.11151718348264694, 0.13891924917697906, 0.03976072371006012, 0.030259057879447937, 0.16817031800746918, 0.023512063547968864, 0.1692570149898529, 0.0484275296330452, 0.11615072935819626, 0.1601259559392929, 0.030384371057152748, 0.07982625812292099, 0.012462254613637924, 0.2006332129240036, 0.021388910710811615, 0.00816336739808321, 0.05706930160522461, 0.14239101111888885, 0.012627027928829193, 0.0, 0.051412153989076614, 0.009943043813109398, 0.09943043440580368, 0.021875513717532158, 0.023125821724534035, 0.019825125113129616, 0.29795631766319275, 0.20622454583644867, 0.25940319895744324, 0.2003028243780136, 0.3916187286376953, 0.1418963223695755, 0.15979547798633575, 0.16534538567066193, 0.05463951453566551, 0.21017606556415558, 0.15340864658355713, 0.08630983531475067, 0.22135326266288757, 0.03674774244427681, 0.015181166119873524, 0.07651403546333313, 0.23035645484924316, 0.027644634246826172, 0.5927918553352356, 0.20895487070083618, 0.33362480998039246, 0.03248456120491028, 0.49854472279548645, 0.14700333774089813, 0.030910838395357132, 0.2104092836380005, 0.03310740739107132, 0.6161329746246338, 0.49484995007514954, 5.615443114947993e-06, 1.636439083085861e-05, 0.01032599713653326, 0.0073732673190534115, 0.010417844168841839, 0.06866273283958435, 0.08601455390453339], "count": [1512]}, "observation.state.tcp_pose": {"min": [0.33614277839660645, 0.15507416427135468, 1.011340618133545, -1.238018274307251, 1.0533151626586914, -1.582798719406128, 0.2649615406990051, -0.3207412660121918, 0.9849886894226074, -0.22965238988399506, 0.7955828905105591, 0.3234449028968811], "max": [0.43524718284606934, 0.26324859261512756, 1.1304000616073608, -0.5340426564216614, 1.3439569473266602, -1.229039192199707, 0.4557236433029175, -0.0636686235666275, 1.2564246654510498, 1.208430528640747, 1.9758447408676147, 1.4107160568237305], "mean": [0.4000062048435211, 0.1842140257358551, 1.0740492343902588, -0.7758133411407471, 1.1909619569778442, -1.3845593929290771, 0.38085824251174927, -0.1994466483592987, 1.1110833883285522, 0.4207243323326111, 1.5061413049697876, 0.8877869248390198], "std": [0.021200455725193024, 0.017280887812376022, 0.0182450320571661, 0.15929126739501953, 0.04427533969283104, 0.0680982694029808, 0.06250165402889252, 0.07593638449907303, 0.08319298923015594, 0.39423227310180664, 0.2782096266746521, 0.3326430916786194], "count": [1512]}, "action.tcp_pose": {"min": [0.336313396692276, 0.15537816286087036, 1.0104089975357056, -1.2378113269805908, 1.0512502193450928, -1.5822714567184448, 0.2648858428001404, -0.31938281655311584, 0.9849095940589905, -0.22981217503547668, 0.7945769429206848, 0.3278805911540985], "max": [0.4384506940841675, 0.2632319927215576, 1.1310582160949707, -0.534349262714386, 1.343601942062378, -1.2292711734771729, 0.45616742968559265, -0.06371151655912399, 1.2565178871154785, 1.206299066543579, 1.9761295318603516, 1.4218053817749023], "mean": [0.39995935559272766, 0.18422116339206696, 1.0739765167236328, -0.7758715748786926, 1.1910964250564575, -1.3845525979995728, 0.38083240389823914, -0.1995835304260254, 1.1111150979995728, 0.42090126872062683, 1.506147861480713, 0.8871073126792908], "std": [0.021320277824997902, 0.01716497354209423, 0.01840115711092949, 0.1593456119298935, 0.044000331312417984, 0.06797932833433151, 0.06265727430582047, 0.07620512694120407, 0.08328936994075775, 0.39529597759246826, 0.2771381139755249, 0.33307650685310364], "count": [1512]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.291666666666666], "std": [6.877632973448082], "count": [1512]}, "observation.tactile": {"min": [-4.838916778564453, -0.006072998046875, -0.0006103515625, -0.03389453887939453, -0.010015010833740234, -0.11270833015441895, -0.6150054931640625, -0.001251220703125, -0.0045166015625, -0.0717153549194336, -0.011707305908203125, -0.01129913330078125, -0.04884147644042969, -0.023223876953125, -0.0048828125, -0.1088724136352539, -0.01814126968383789, -0.004499673843383789, -0.017467498779296875, -0.001373291015625, -0.006591796875, -9.72747802734375e-05, -0.0008001327514648438, -0.00036406517028808594, -0.01221466064453125, -0.004302978515625, -0.00274658203125, -0.0001506805419921875, -0.0008897781372070312, -0.0002949237823486328, -1.7869129180908203, -0.014739990234375, -0.01434326171875, -0.3375082015991211, -0.04254722595214844, -0.0426938533782959, -6.474071502685547, -0.00408935546875, -0.00018310546875, -0.15795230865478516, -0.01876544952392578, -0.12088513374328613, -0.017345428466796875, -0.004669189453125, -0.0057373046875, -0.0004291534423828125, -0.0014710426330566406, -0.0005199909210205078, -0.0128936767578125, -0.00372314453125, -0.01214599609375, -0.0002079010009765625, -0.00164794921875, -0.00046253204345703125, -0.010786056518554688, -0.00970458984375, -0.00494384765625, -0.00035762786865234375, -0.0011425018310546875, -0.0005555152893066406], "max": [0.4276847839355469, 1.976837158203125, 1.40216064453125, 0.0021619796752929688, 0.0016770362854003906, 0.012482404708862305, 3.3342132568359375, 2.268646240234375, 4.81951904296875, 0.0012836456298828125, 0.00588226318359375, 0.05054473876953125, 3.6361865997314453, 3.11981201171875, 6.98980712890625, 0.0031843185424804688, 0.0030417442321777344, 0.06442427635192871, 0.00841522216796875, 0.00946044921875, 0.0052490234375, 0.000820159912109375, 6.198883056640625e-06, 7.152557373046875e-06, 0.01457977294921875, 0.00433349609375, 0.00372314453125, 0.00101470947265625, 0.00011205673217773438, 3.147125244140625e-05, 7.14570426940918, 16.23480224609375, 15.36767578125, 0.006352424621582031, 0.027063369750976562, 0.1534426212310791, 2.033740997314453, 5.38726806640625, 7.25482177734375, 0.0013408660888671875, 0.006796836853027344, 0.04345202445983887, 0.025897979736328125, 0.01580810546875, 0.024261474609375, 0.001617431640625, 0.0005745887756347656, 0.0, 0.0374908447265625, 0.05145263671875, 0.00579833984375, 0.0013370513916015625, 0.00013256072998046875, 2.9087066650390625e-05, 0.022264480590820312, 0.023651123046875, 0.015869140625, 0.001033782958984375, 6.103515625e-05, 1.811981201171875e-05], "mean": [-1.3674904108047485, 1.2736455202102661, 0.8701691627502441, -0.019064944237470627, -0.0029445288237184286, -0.030167678371071815, 0.6931289434432983, 0.49808844923973083, 1.6336010694503784, -0.02616290934383869, -0.004546249285340309, 0.012535719200968742, 0.16445621848106384, 0.13567253947257996, 0.5187317132949829, -0.009178408421576023, -0.00011549771443242207, 0.002871670527383685, 4.175983485765755e-05, 0.004591654054820538, -0.000595254241488874, 0.0002919214603025466, -0.0003018697607330978, -0.00011628235370153561, 0.0022476816084235907, 0.00023988189059309661, 0.0005355512257665396, 0.0004652303468901664, -0.0004136981733608991, -0.0001366356882499531, 1.2760381698608398, 2.8754265308380127, 2.844454050064087, -0.06710387766361237, -0.004296266008168459, 0.02791694365441799, -0.6424901485443115, 1.0533989667892456, 1.4455772638320923, -0.02973836101591587, -0.0025448158849030733, -0.0121342483907938, 0.007510371971875429, 0.0028088886756449938, -0.0012040516594424844, 0.0009310687310062349, -0.0008928558090701699, -0.0003214918542653322, 0.013817595317959785, 0.0040334975346922874, -0.002560287481173873, 0.0007561691454611719, -0.0007559325895272195, -0.00022081202769186348, 0.0033972414676100016, 0.0003032381646335125, 9.026098268805072e-05, 0.00017142925935331732, -0.00023586976749356836, -0.00017600416322238743], "std": [0.656491756439209, 0.5676934719085693, 0.3841031789779663, 0.009013027884066105, 0.0018426820170134306, 0.015614680014550686, 0.44869890809059143, 0.2489016354084015, 0.7206445336341858, 0.01156538724899292, 0.003510858863592148, 0.007912649773061275, 0.4072321355342865, 0.2696147561073303, 0.6184009313583374, 0.010205574333667755, 0.0024895030073821545, 0.006852990482002497, 0.0031381233129650354, 0.0017546935705468059, 0.0015425843885168433, 0.00013616033538710326, 0.0001218168981722556, 5.3677762480219826e-05, 0.0014067458687350154, 0.0012744927080348134, 0.0010466643143445253, 0.0001554275950184092, 0.00015257723862305284, 5.169219366507605e-05, 1.7410836219787598, 4.6146674156188965, 4.39030122756958, 0.10157038271427155, 0.010214964859187603, 0.040674418210983276, 1.3592547178268433, 1.4634779691696167, 1.9866126775741577, 0.042859602719545364, 0.003923415206372738, 0.02756168134510517, 0.006730591878294945, 0.001748701324686408, 0.0017179824644699693, 0.0002966154715977609, 0.00025446555810049176, 8.118174446281046e-05, 0.006004862487316132, 0.004860549699515104, 0.0028584059327840805, 0.0002535210223868489, 0.0002234061830677092, 6.924687477294356e-05, 0.0031565637327730656, 0.0012376803206279874, 0.0019126447150483727, 0.00020384287927299738, 0.0001882580399978906, 7.990740414243191e-05], "count": [1512]}, "timestamp": {"min": [0.0], "max": [50.36666666666667], "mean": [25.18333333333333], "std": [14.549223601533088], "count": [1512]}, "frame_index": {"min": [0], "max": [1511], "mean": [755.5], "std": [436.4767080459926], "count": [1512]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [1512]}, "index": {"min": [1656], "max": [3167], "mean": [2411.5], "std": [436.4767080459926], "count": [1512]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1512]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33351606130599976]], [[0.3327407240867615]], [[0.33259329199790955]]], "std": [[[0.20868520438671112]], [[0.2086954265832901]], [[0.20870696008205414]]], "count": [1512]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30429571866989136]], [[0.3061366081237793]], [[0.3040540814399719]]], "std": [[[0.17178913950920105]], [[0.17394237220287323]], [[0.17235912382602692]]], "count": [1512]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3085693120956421]], [[0.3076639175415039]], [[0.30605074763298035]]], "std": [[[0.17426957190036774]], [[0.17499998211860657]], [[0.17375531792640686]]], "count": [1512]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3308655321598053]], [[0.33010849356651306]], [[0.3301417827606201]]], "std": [[[0.2084169238805771]], [[0.20845040678977966]], [[0.2085287719964981]]], "count": [1512]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6901960968971252]], [[0.6901960968971252]], [[0.6901960968971252]]], "mean": [[[0.00446899700909853]], [[0.00446899700909853]], [[0.00446899700909853]]], "std": [[[0.04298564791679382]], [[0.04298564791679382]], [[0.04298564791679382]]], "count": [1512]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[0.9607843160629272]], [[0.9607843160629272]], [[0.9607843160629272]]], "mean": [[[0.475115031003952]], [[0.475115031003952]], [[0.475115031003952]]], "std": [[[0.15313607454299927]], [[0.15313607454299927]], [[0.15313607454299927]]], "count": [1512]}}}
+{"episode_index": 2, "stats": {"observation.state": {"min": [0.7508130073547363, -0.8400782942771912, 2.396844820395927e-07, 1.0877591371536255, -0.7576192021369934, -0.7700014114379883, 0.2802216112613678, 0.007649503648281097, -0.18755194544792175, -0.2387198805809021, -0.31578734517097473, 0.0025212964974343777, 0.0031142637599259615, -0.0275112297385931, 0.003405576338991523, 0.000848267984110862, 0.003328668186441064, -0.00022299056581687182, 0.003615122986957431, 0.0008859589579515159, 0.0033078165724873543, -0.00020237013814039528, 0.0030499498825520277, 0.0008606838528066874, 0.006245483178645372, 0.0032379019539803267, 0.00011186331539647654, 0.006518638227134943, 0.0008624575566500425, 0.29078495502471924, -1.090829610824585, 0.0006714761257171631, 1.194692611694336, -1.6271967887878418, -0.769161581993103, -0.5229066014289856, 0.007748514413833618, -0.3209080398082733, -0.18169265985488892, -0.3162631392478943, 0.003322963137179613, 0.0031181885860860348, 6.15745666436851e-05, 0.003488898742944002, 0.0011209730291739106, 0.0032123893033713102, -8.119938138406724e-05, 0.003398130415007472, 0.0017422084929421544, 0.003286964725703001, -0.00019306218018755317, 0.0035247094929218292, 0.0013870267430320382, 0.010200420394539833, 0.0038479985669255257, 0.00011088198516517878, 0.003160573309287429, 0.000863787776324898, 0.5618204474449158, -1.107150673866272, 0.46968573331832886, -0.034035198390483856, -0.016106797382235527, -0.13268934190273285, -0.8153107762336731], "max": [1.0539242029190063, -0.5154709219932556, 0.4160629212856293, 1.569998025894165, 3.5952675148109847e-07, -0.22394490242004395, 0.579771876335144, 1.2340415716171265, -8.853306098899338e-06, 0.4883749783039093, -0.0051642851904034615, 0.9729421734809875, 1.116899013519287, 0.18808454275131226, 0.28159099817276, 0.08853337168693542, 1.2847813367843628, 0.17690707743167877, 0.036291636526584625, 0.21444286406040192, 1.0399729013442993, 0.12662234902381897, 0.09286320209503174, 0.35763609409332275, 0.06158998981118202, 0.7573901414871216, 0.17356789112091064, 0.1480594277381897, 0.12868353724479675, 1.3319697380065918, -0.35185831785202026, 0.8021051287651062, 1.954005241394043, -0.0007665110169909894, 0.11447859555482864, 0.5191210508346558, 1.3248714208602905, -0.00011599485151236877, 0.6224085092544556, 0.31453803181648254, 0.6454260349273682, 1.431020736694336, 0.1659887135028839, 0.11011092364788055, 0.5495402216911316, 1.4666357040405273, 0.2263772040605545, 1.6533535718917847, 1.1554620265960693, 1.46706223487854, 0.2634912431240082, 1.6564854383468628, 0.9149796366691589, 0.13693074882030487, 1.4669687747955322, 0.2058136761188507, 1.6534684896469116, 1.3081005811691284, 0.5628750920295715, -1.1065753698349, 0.5441796779632568, 0.0, 0.02943325601518154, 0.05675728991627693, -0.535934567451477], "mean": [0.9596768021583557, -0.5968742370605469, 0.24092118442058563, 1.1971174478530884, -0.6242720484733582, -0.428592711687088, 0.46629011631011963, 1.1939873695373535, -0.15799446403980255, 0.41205066442489624, -0.3080504238605499, 0.7979515790939331, 1.0765265226364136, 0.17071223258972168, 0.1867787390947342, 0.0849546417593956, 1.2134673595428467, 0.14048780500888824, 0.007062917109578848, 0.18549272418022156, 0.9901960492134094, 0.050420694053173065, 0.00414228904992342, 0.3446443974971771, 0.051457617431879044, 0.7267628312110901, 0.05219700187444687, 0.11042219400405884, 0.09513769298791885, 0.916318416595459, -0.7371338605880737, 0.3757859170436859, 1.4363116025924683, -0.9997235536575317, -0.2038460671901703, -0.1750245988368988, 1.2329710721969604, -0.21986205875873566, 0.2664514482021332, -0.11099088191986084, 0.5793624520301819, 1.2129878997802734, 0.08577287942171097, 0.10153257101774216, 0.5036838054656982, 1.4058722257614136, 0.17191274464130402, 1.4296869039535522, 1.0797393321990967, 1.326783299446106, 0.1608227640390396, 1.5127387046813965, 0.8446030020713806, 0.10889776796102524, 1.4062906503677368, 0.12282863259315491, 1.41352379322052, 1.1195416450500488, 0.5624964833259583, -1.106844186782837, 0.4880184531211853, -0.016804134473204613, 0.0086481599137187, -0.05026722699403763, -0.6793930530548096], "std": [0.06058146804571152, 0.0600149966776371, 0.049230944365262985, 0.09913267940282822, 0.1425962746143341, 0.0687716081738472, 0.034372515976428986, 0.14919638633728027, 0.020845016464591026, 0.17106343805789948, 0.036213506013154984, 0.09477082639932632, 0.14048093557357788, 0.03538784757256508, 0.06131749227643013, 0.010118367150425911, 0.19693540036678314, 0.019618643447756767, 0.0030546793714165688, 0.05410768836736679, 0.1384085863828659, 0.0157791618257761, 0.00787824671715498, 0.04696487635374069, 0.0068070911802351475, 0.09034501761198044, 0.022952517494559288, 0.026240887120366096, 0.023063626140356064, 0.25256049633026123, 0.18475179374217987, 0.20420007407665253, 0.20483066141605377, 0.4759095013141632, 0.17322474718093872, 0.1863059401512146, 0.15131129324436188, 0.06087179854512215, 0.24030554294586182, 0.19396190345287323, 0.07396368682384491, 0.19171272218227386, 0.03753659129142761, 0.012824848294258118, 0.06262166053056717, 0.18061502277851105, 0.023441482335329056, 0.5323203802108765, 0.17133259773254395, 0.30167078971862793, 0.027604784816503525, 0.3560907244682312, 0.13410332798957825, 0.027641570195555687, 0.18084023892879486, 0.024931516498327255, 0.561673641204834, 0.4429684281349182, 6.594571459572762e-05, 4.675125819630921e-05, 0.011220160871744156, 0.008336099795997143, 0.012444619089365005, 0.042900729924440384, 0.09146595746278763], "count": [1783]}, "observation.state.joint_torque": {"min": [-38.81549835205078, -14.620499610900879, -19.051000595092773, -13.800000190734863, -0.36800000071525574, -1.5216000080108643, 0.9983999729156494, -1.1907482147216797, -0.5705403089523315, -0.8450289368629456, -0.7978066802024841, -0.33869224786758423, -0.3693937659263611, -0.6121382117271423, -0.24239739775657654, -0.039242662489414215, -0.5881515741348267, -0.34156927466392517, -0.05810895934700966, -0.019978083670139313, -0.8318554759025574, -1.613818883895874, -0.08467306196689606, -0.027113113552331924, -0.09367763251066208, -0.44615089893341064, -0.5478541254997253, -0.10957689583301544, -0.027826614677906036, 4.145999908447266, -19.485000610351562, -3.7330000400543213, -17.75200080871582, -2.0095999240875244, -3.2416000366210938, -3.162400007247925, -1.8886412382125854, -1.0824984312057495, -1.0736838579177856, -0.8214178085327148, -0.14278201758861542, -0.5689622759819031, -1.1868572235107422, -0.1062563955783844, -0.022118592634797096, -0.3924208879470825, -0.46246176958084106, -0.49973708391189575, -0.03139413148164749, -0.8174635171890259, -0.5392189025878906, -0.6923267841339111, -0.027113113552331924, -0.06772936880588531, -0.7330306768417358, -1.2405872344970703, -0.449929416179657, -0.08419335633516312, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.857999801635742, 25.461000442504883, -8.571000099182129, 4.51200008392334, 1.9168000221252441, 2.1440000534057617, 3.138400077819824, 0.836707592010498, 0.7832193970680237, 1.5533620119094849, 0.8027774691581726, 0.1759871542453766, 0.42024531960487366, 0.47205641865730286, 0.20753200352191925, 0.04209667816758156, 0.6831384897232056, 0.6418815851211548, 0.06308973580598831, 0.06920978426933289, 0.7368685603141785, 0.2715283930301666, 0.0796922892332077, 0.022118592634797096, 0.17152243852615356, 0.37994784116744995, 0.4000965654850006, 0.12285894900560379, 0.021405089646577835, 55.07699966430664, 28.128000259399414, 32.88600158691406, 5.489999771118164, 0.07519999891519547, 3.1823999881744385, 0.5103999972343445, 2.4935667514801025, 4.299428939819336, 2.1784348487854004, 1.0388884544372559, 0.6458396315574646, 2.1424834728240967, 0.6111786961555481, 1.0575830936431885, 0.21476440131664276, 0.6322869062423706, 0.3857046365737915, 0.11787818372249603, 0.020691584795713425, 0.778125524520874, 0.9162883758544922, 0.13946151733398438, 0.02996712550520897, 0.49169760942459106, 0.499880850315094, 0.3482854962348938, 0.31378841400146484, 0.057793740183115005, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-31.197168350219727, 1.8297233581542969, -14.326659202575684, -5.969950199127197, 0.1325351595878601, 0.6507738828659058, 1.882555603981018, -0.03405451402068138, 0.023920578882098198, 0.07791588455438614, -0.005544319283217192, 0.006426866631954908, 0.023866673931479454, 0.02998504228889942, -0.00017691966786514968, 0.005346678663045168, 0.07584425806999207, 0.08780339360237122, -0.0001322245952906087, 0.026776118203997612, 0.008141083642840385, -0.17053663730621338, -0.0011509136529639363, 0.0007531207520514727, 0.0038262461312115192, 0.010673564858734608, 0.005476426798850298, -0.0019358787685632706, -1.3205993127485272e-05, 27.675424575805664, 4.509839057922363, 14.57073974609375, -6.21190071105957, -0.5898723602294922, 0.9103866815567017, -1.173843502998352, 0.221940279006958, 0.6046565175056458, 0.21483123302459717, 0.09786371141672134, 0.05244935303926468, 0.4576171934604645, -0.15056170523166656, 0.21448861062526703, 0.053113002330064774, 0.009311620146036148, -0.002602335764095187, 0.0011360157513990998, -0.001045243931002915, -0.00841453019529581, 0.12714269757270813, 0.0019237779779359698, -0.0003881665179505944, 0.23493850231170654, 0.0029090698808431625, -0.13931339979171753, -0.0006722955731675029, -0.0003001272852998227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.9745091199874878, 1.8746153116226196, 0.7966136932373047, 1.0168746709823608, 0.24808575212955475, 0.4205610752105713, 0.32518333196640015, 0.19377614557743073, 0.13034223020076752, 0.27326563000679016, 0.15011727809906006, 0.02945629134774208, 0.07363931089639664, 0.08982585370540619, 0.04271532967686653, 0.00823796447366476, 0.16287298500537872, 0.14456163346767426, 0.0038784847129136324, 0.016295384615659714, 0.1960667073726654, 0.2338520586490631, 0.007721310015767813, 0.004981265403330326, 0.015517573803663254, 0.07033462822437286, 0.07215352356433868, 0.015084481798112392, 0.006791397463530302, 5.007624626159668, 3.384718894958496, 1.684900164604187, 2.4322547912597656, 0.29472458362579346, 0.8830503225326538, 0.6588727235794067, 0.7841479182243347, 1.0133895874023438, 0.40480270981788635, 0.31455835700035095, 0.10768316686153412, 0.7102266550064087, 0.3148328363895416, 0.315078467130661, 0.07549667358398438, 0.06413690745830536, 0.06321904808282852, 0.020046617835760117, 0.006409302353858948, 0.18306751549243927, 0.20610658824443817, 0.02178177796304226, 0.0064863404259085655, 0.1830497682094574, 0.10875511914491653, 0.22289222478866577, 0.025417761877179146, 0.005280505400151014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1783]}, "observation.state.tcp": {"min": [0.3617660105228424, 0.1516983062028885, 1.0315004587173462, -1.212886929512024, 0.9632817506790161, -1.622348427772522, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2568330764770508, -0.35838040709495544, 0.9898836016654968, -0.2460867464542389, 1.1928553581237793, 0.12207157164812088, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4365159869194031, 0.2769119143486023, 1.1558815240859985, -0.44220563769340515, 1.409912347793579, -1.2289501428604126, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4484325647354126, -0.07822243124246597, 1.2726517915725708, 1.5122404098510742, 2.134413242340088, 1.851000189781189, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4084993302822113, 0.19167330861091614, 1.0872191190719604, -0.6343106627464294, 1.2068979740142822, -1.3419163227081299, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.37708836793899536, -0.20057013630867004, 1.117868423461914, 0.5456234812736511, 1.6684536933898926, 0.9009487628936768, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.018378091976046562, 0.018740884959697723, 0.020185256376862526, 0.16228948533535004, 0.0578574500977993, 0.09570524096488953, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06547193974256516, 0.06717313826084137, 0.086456798017025, 0.5002002120018005, 0.26634934544563293, 0.4752511978149414, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1783]}, "action": {"min": [0.7507991790771484, -0.8404473662376404, 1.0243128072115626e-17, 1.0871200561523438, -0.7576063275337219, -0.7699999809265137, 0.2801935374736786, 0.0, -0.19173675775527954, -0.24426613748073578, -0.3490658402442932, 0.0, 0.0, -0.028943128883838654, 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, 0.2906458377838135, -1.0907633304595947, 0.0008450057939626276, 1.194318175315857, -1.6271950006484985, -0.7689502239227295, -0.5229899883270264, 0.0, -0.34513503313064575, -0.18116524815559387, -0.328453004360199, 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, 0.5624915957450867, -1.1069231033325195, 0.4691658020019531, -0.034531306475400925, -0.01650886982679367, -0.13306725025177002, -0.8151902556419373], "max": [1.053999900817871, -0.5153630971908569, 0.41607949137687683, 1.5700000524520874, -5.468541901195738e-18, -0.22395694255828857, 0.5798305869102478, 1.238881230354309, 0.0, 0.495543897151947, 0.0, 0.9793124794960022, 1.121211290359497, 0.19549745321273804, 0.2877635657787323, 0.09157863259315491, 1.29096519947052, 0.185238778591156, 0.04121594876050949, 0.21598432958126068, 1.046923041343689, 0.12330430001020432, 0.0968361645936966, 0.36088821291923523, 0.07639224827289581, 0.7639224529266357, 0.17210406064987183, 0.15489372611045837, 0.13265089690685272, 1.3331167697906494, -0.35179030895233154, 0.8028642535209656, 1.954359769821167, -0.0010259400587528944, 0.1144750639796257, 0.5188676118850708, 1.3244009017944336, 0.0, 0.6262838840484619, 0.3490658402442932, 0.6532840728759766, 1.5014538764953613, 0.14842337369918823, 0.11598870903253555, 0.5538437366485596, 1.5707963705062866, 0.22889235615730286, 1.7453292608261108, 1.1575323343276978, 1.5707963705062866, 0.2680737376213074, 1.7453292608261108, 0.9201006889343262, 0.14936178922653198, 1.5707963705062866, 0.21448034048080444, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.5442397594451904, -5.765435427809649e-19, 0.03022429347038269, 0.057063065469264984, -0.5353187322616577], "mean": [0.9597306251525879, -0.5969483256340027, 0.24095100164413452, 1.1971828937530518, -0.6243271231651306, -0.4286106824874878, 0.46631765365600586, 1.1902551651000977, -0.15994659066200256, 0.4147428572177887, -0.34123221039772034, 0.8025246858596802, 1.0809240341186523, 0.1733488291501999, 0.18841424584388733, 0.08818196505308151, 1.216260552406311, 0.14315110445022583, 0.0008722722996026278, 0.18805736303329468, 0.9936943650245667, 0.04840452969074249, 0.001145576243288815, 0.34708550572395325, 0.0731036365032196, 0.7310362458229065, 0.053274936974048615, 0.11429750174283981, 0.0979624092578888, 0.9177954196929932, -0.7374480962753296, 0.37482258677482605, 1.4360758066177368, -0.9987527132034302, -0.2042357176542282, -0.17515531182289124, 1.2359622716903687, -0.21998466551303864, 0.26876595616340637, -0.1075669527053833, 0.582615852355957, 1.2248868942260742, 0.08341074734926224, 0.10380057990550995, 0.5072643756866455, 1.4932036399841309, 0.1700052171945572, 1.5088884830474854, 1.0822515487670898, 1.3911818265914917, 0.16100646555423737, 1.5893367528915405, 0.8469071388244629, 0.12639407813549042, 1.4977651834487915, 0.12281546741724014, 1.489938735961914, 1.194210410118103, 0.5625773668289185, -1.1068434715270996, 0.48807263374328613, -0.01685350202023983, 0.008677063509821892, -0.05030805245041847, -0.6794533133506775], "std": [0.06074032559990883, 0.060148194432258606, 0.04930377006530762, 0.09934315830469131, 0.1426507532596588, 0.0689387246966362, 0.03439763933420181, 0.15932174026966095, 0.023184191435575485, 0.1727742850780487, 0.045637309551239014, 0.10988811403512955, 0.15092086791992188, 0.036606162786483765, 0.06278780102729797, 0.011594179086387157, 0.20266929268836975, 0.022608332335948944, 0.004462058190256357, 0.054796092212200165, 0.14668935537338257, 0.016387391835451126, 0.008518848568201065, 0.05018073692917824, 0.009987914934754372, 0.09987916797399521, 0.02405991032719612, 0.02723865583539009, 0.02334379218518734, 0.2535928785800934, 0.18512706458568573, 0.20439839363098145, 0.20493653416633606, 0.47623613476753235, 0.17349836230278015, 0.1865338236093521, 0.166033536195755, 0.06879866123199463, 0.24065691232681274, 0.20574381947517395, 0.08366300910711288, 0.2090383917093277, 0.03372597321867943, 0.014153868891298771, 0.07082819193601608, 0.21837767958641052, 0.024579904973506927, 0.5630422234535217, 0.17804159224033356, 0.33449795842170715, 0.029347358271479607, 0.38875868916511536, 0.13906992971897125, 0.030883580446243286, 0.22033774852752686, 0.02652793936431408, 0.5944864749908447, 0.47404929995536804, 1.6150715964613482e-05, 2.129776476067491e-05, 0.011423853226006031, 0.008359703235328197, 0.012503791600465775, 0.04296981543302536, 0.09153635054826736], "count": [1783]}, "observation.state.tcp_pose": {"min": [0.3617660105228424, 0.1516983062028885, 1.0315004587173462, -1.212886929512024, 0.9632817506790161, -1.622348427772522, 0.2568330764770508, -0.35838040709495544, 0.9898836016654968, -0.2460867464542389, 1.1928553581237793, 0.12207157164812088], "max": [0.4365159869194031, 0.2769119143486023, 1.1558815240859985, -0.44220563769340515, 1.409912347793579, -1.2289501428604126, 0.4484325647354126, -0.07822243124246597, 1.2726517915725708, 1.5122404098510742, 2.134413242340088, 1.851000189781189], "mean": [0.4084993302822113, 0.19167330861091614, 1.0872191190719604, -0.6343106627464294, 1.2068979740142822, -1.3419163227081299, 0.37708836793899536, -0.20057013630867004, 1.117868423461914, 0.5456234812736511, 1.6684536933898926, 0.9009487628936768], "std": [0.018378091976046562, 0.018740884959697723, 0.020185256376862526, 0.16228948533535004, 0.0578574500977993, 0.09570524096488953, 0.06547193974256516, 0.06717313826084137, 0.086456798017025, 0.5002002120018005, 0.26634934544563293, 0.4752511978149414], "count": [1783]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.15205448865890503, 1.0313737392425537, -1.2152601480484009, 0.9634079933166504, -1.6231478452682495, 0.2566874921321869, -0.3594520688056946, 0.9894465804100037, -0.24536700546741486, 1.172305941581726, 0.11597667634487152], "max": [0.4371102750301361, 0.27776798605918884, 1.1569756269454956, -0.4421561658382416, 1.4097890853881836, -1.2289544343948364, 0.449440062046051, -0.07804229855537415, 1.2721741199493408, 1.5130605697631836, 2.1345138549804688, 1.852950930595398], "mean": [0.40858298540115356, 0.19172121584415436, 1.0871845483779907, -0.6343355178833008, 1.2068827152252197, -1.3418794870376587, 0.37724894285202026, -0.20073403418064117, 1.1181919574737549, 0.5461782217025757, 1.6678016185760498, 0.9001574516296387], "std": [0.018455950543284416, 0.018799522891640663, 0.020321480929851532, 0.16217520833015442, 0.058025166392326355, 0.09580568969249725, 0.0655364915728569, 0.0678219199180603, 0.08670205622911453, 0.5010963678359985, 0.265870600938797, 0.47560036182403564], "count": [1783]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.466068424004487], "std": [6.692245164301792], "count": [1783]}, "observation.tactile": {"min": [-5.854496002197266, -0.0009765625, -0.0008544921875, -0.15277957916259766, -0.02360820770263672, -0.14017200469970703, -0.4001655578613281, -0.0120849609375, -0.003662109375, -0.054335594177246094, -0.009737491607666016, -0.01040506362915039, -0.017736434936523438, -0.002288818359375, -0.00311279296875, -0.20752811431884766, -0.020754337310791016, -0.00017690658569335938, -0.031215667724609375, -0.01055908203125, -0.0029296875, -0.00041675567626953125, -0.0005183219909667969, -0.0005848407745361328, -0.009624481201171875, -0.01470947265625, -0.00177001953125, -0.0003604888916015625, -0.0006008148193359375, -0.00047206878662109375, -0.12657546997070312, -0.0225830078125, -0.00537109375, -0.31725597381591797, -0.016191959381103516, -0.001249551773071289, -6.470256805419922, -0.00555419921875, -0.0186767578125, -0.2098245620727539, -0.01963043212890625, -0.13247323036193848, -0.03301811218261719, -0.003875732421875, -0.0054931640625, -0.000125885009765625, -0.0010972023010253906, -0.0004546642303466797, -0.018154144287109375, -0.0106201171875, -0.0108642578125, -0.0023212432861328125, -0.0010900497436523438, -0.0006201267242431641, -0.027126312255859375, -0.007568359375, -0.0081787109375, -0.0002193450927734375, -0.0005564689636230469, -0.0003581047058105469], "max": [0.7192344665527344, 5.592193603515625, 5.33978271484375, 0.000316619873046875, 0.0015573501586914062, 0.01797008514404297, 1.9572563171386719, 1.824249267578125, 2.70611572265625, 0.0016870498657226562, 0.005837917327880859, 0.03268575668334961, 6.151453018188477, 4.83856201171875, 11.92401123046875, 0.00112152099609375, 0.0007586479187011719, 0.11826682090759277, 0.00826263427734375, 0.00469970703125, 0.0147705078125, 0.0004978179931640625, 0.00016736984252929688, 0.0, 0.011249542236328125, 0.0033721923828125, 0.00604248046875, 0.000621795654296875, 0.0002117156982421875, 3.528594970703125e-05, 8.969738006591797, 16.18798828125, 15.50885009765625, 0.0018510818481445312, 0.031293392181396484, 0.1700427532196045, 1.7279853820800781, 7.305908203125, 9.44171142578125, 0.0037107467651367188, 0.02027130126953125, 0.03430533409118652, 0.018373489379882812, 0.0089263916015625, 0.00927734375, 0.0011768341064453125, 0.00017595291137695312, 2.47955322265625e-05, 0.18753433227539062, 0.05242919921875, 0.13067626953125, 0.00127410888671875, 0.00339508056640625, 0.004086732864379883, 0.004344940185546875, 0.00360107421875, 0.00433349609375, 0.0006313323974609375, 0.0001430511474609375, 5.602836608886719e-05], "mean": [-1.052225947380066, 3.4277920722961426, 2.7980093955993652, -0.07687822729349136, -0.013607397675514221, -0.021792583167552948, 0.9194126725196838, 0.49865394830703735, 1.0637483596801758, -0.020728662610054016, -0.0027515930123627186, 0.017250100150704384, 1.94334077835083, 1.0087758302688599, 3.458383321762085, -0.06437516957521439, -0.008480732329189777, 0.0382685512304306, -0.014933333732187748, -0.0024890482891350985, 0.0022143814712762833, 6.059549195924774e-05, -0.000147790095070377, -0.00033381316461600363, 3.976549123763107e-05, -0.0012485592160373926, 0.0022407742217183113, 1.8442873624735512e-05, -2.0537694581435062e-05, -3.7736059312010184e-05, 2.0658042430877686, 3.5862157344818115, 3.7411468029022217, -0.08857293426990509, 0.0006338873645290732, 0.04135400801897049, -0.9991592764854431, 1.5923433303833008, 2.278097152709961, -0.04732879623770714, -0.0011293909046798944, -0.019894443452358246, 0.00044878426706418395, 0.001369559788145125, 0.000582178879994899, 0.0004928212147206068, -0.00034848961513489485, -0.00018117325089406222, 0.008600061759352684, 0.0020972832571715117, 0.0006007153424434364, 0.0005392576567828655, -0.000446443009423092, -0.00023301411420106888, -0.008307812735438347, -0.0015045525506138802, -0.0009132680715993047, 0.00011183181777596474, -8.27658805064857e-05, -0.0001239101984538138], "std": [0.7353638410568237, 1.5765480995178223, 1.4161999225616455, 0.03900550678372383, 0.006846918724477291, 0.017577430233359337, 0.5308360457420349, 0.2701692581176758, 0.5738223195075989, 0.011007468216121197, 0.003209650283679366, 0.010169857181608677, 0.8621182441711426, 0.6042547821998596, 1.7308045625686646, 0.0316418893635273, 0.0035046825651079416, 0.016997870057821274, 0.006195561960339546, 0.0018979631131514907, 0.0017597966361790895, 0.00010818555165315047, 8.313380385516211e-05, 0.00010088634735438973, 0.0014014220796525478, 0.0013684584992006421, 0.0011389439459890127, 0.00014569221821147949, 0.00013600477541331202, 4.0760922274785116e-05, 2.6570727825164795, 4.999317169189453, 4.987027645111084, 0.11609994620084763, 0.005993150640279055, 0.051405858248472214, 2.084650993347168, 2.0352978706359863, 2.9551570415496826, 0.0636676698923111, 0.004064061213284731, 0.04211965203285217, 0.006598124746233225, 0.001818532240577042, 0.0018220444908365607, 0.0002867099829018116, 0.00030062347650527954, 0.00010227522579953074, 0.011098361574113369, 0.003416441846638918, 0.006438073702156544, 0.0002494213986210525, 0.00028722561546601355, 0.00019476957095321268, 0.0071893371641635895, 0.0016017586458474398, 0.001906698802486062, 0.00011023718252545223, 6.753790512448177e-05, 7.796646241331473e-05], "count": [1783]}, "timestamp": {"min": [0.0], "max": [59.4], "mean": [29.7], "std": [17.156922801015337], "count": [1783]}, "frame_index": {"min": [0], "max": [1782], "mean": [891.0], "std": [514.7076840304602], "count": [1783]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [1783]}, "index": {"min": [3168], "max": [4950], "mean": [4059.0], "std": [514.7076840304602], "count": [1783]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1783]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33274686336517334]], [[0.3320207893848419]], [[0.3317595422267914]]], "std": [[[0.20638081431388855]], [[0.20635820925235748]], [[0.20628970861434937]]], "count": [1783]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30513283610343933]], [[0.30750617384910583]], [[0.30580151081085205]]], "std": [[[0.17270313203334808]], [[0.17516306042671204]], [[0.17377102375030518]]], "count": [1783]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3102140724658966]], [[0.3086729347705841]], [[0.30711105465888977]]], "std": [[[0.17384059727191925]], [[0.17420126497745514]], [[0.1726459413766861]]], "count": [1783]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.32907649874687195]], [[0.32837992906570435]], [[0.3282383680343628]]], "std": [[[0.20578832924365997]], [[0.2058245688676834]], [[0.2058357447385788]]], "count": [1783]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8078431487083435]], [[0.8078431487083435]], [[0.8078431487083435]]], "mean": [[[0.00757488003000617]], [[0.00757488003000617]], [[0.00757488003000617]]], "std": [[[0.05973343923687935]], [[0.05973343923687935]], [[0.05973343923687935]]], "count": [1783]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.9607843160629272]], [[0.9607843160629272]], [[0.9607843160629272]]], "mean": [[[0.47480541467666626]], [[0.47480541467666626]], [[0.47480541467666626]]], "std": [[[0.1528111845254898]], [[0.1528111845254898]], [[0.1528111845254898]]], "count": [1783]}}}
+{"episode_index": 3, "stats": {"observation.state": {"min": [0.8108168244361877, -0.8139560222625732, 9.779127867659554e-05, 1.0106260776519775, -0.7996070981025696, -0.7696949243545532, 0.29435545206069946, 0.007666667923331261, -0.1998947113752365, -0.25660303235054016, -0.31719082593917847, 0.002413509413599968, 0.003162835957482457, -0.05886880308389664, 0.0034218861255794764, 0.0008300876361317933, 0.0038295998238027096, -0.0006150026456452906, 0.0035027265548706055, 0.0008566930191591382, 0.0032347128726541996, -0.002179113682359457, 0.003121216781437397, 0.0008540325216017663, 0.006081719882786274, 0.003263414604589343, -0.0013507114490494132, 0.006541684735566378, 0.0008646746282465756, 0.16243325173854828, -1.119915246963501, 0.000586747657507658, 1.1473215818405151, -1.6199185848236084, -0.769461989402771, -0.43073388934135437, 0.006422887556254864, -0.3188013732433319, -0.1294046938419342, -0.30210235714912415, 0.003340336959809065, 0.0063757156021893024, 0.00010818358714459464, 0.0034768434707075357, 0.0016109553398564458, 0.009582708589732647, 0.00018668404663912952, 0.003398130415007472, 0.0022188881412148476, 0.0033693904988467693, -0.0001788339577615261, 0.003546337829902768, 0.0021439497359097004, 0.01035562064498663, 0.009715178050100803, -4.3420728616183624e-05, 0.00683490838855505, 0.0008318613399751484, 0.5617246031761169, -1.107150673866272, 0.4641250669956207, -0.038061898201704025, -0.006423544604331255, -0.18043449521064758, -0.8428265452384949], "max": [1.0693341493606567, -0.41528642177581787, 0.3853831887245178, 1.5695457458496094, -6.555370782734826e-05, -0.24962517619132996, 0.5199021697044373, 1.2421047687530518, 0.000563350971788168, 0.4911770224571228, -0.002379480516538024, 0.972944974899292, 1.189253807067871, 0.20007428526878357, 0.2670244872570038, 0.09237651526927948, 1.2886601686477661, 0.1779855191707611, 0.03009423427283764, 0.19348002970218658, 1.036168098449707, 0.12760606408119202, 0.01530541479587555, 0.35531342029571533, 0.07029834389686584, 0.7842891216278076, 0.17655432224273682, 0.07453656196594238, 0.0686582699418068, 1.225882649421692, -0.33695313334465027, 0.8878939747810364, 1.890763282775879, -0.0008185225888155401, 0.14823755621910095, 0.519227921962738, 1.3159302473068237, 0.0011702452320605516, 0.5355757474899292, 0.31467631459236145, 0.6454452276229858, 1.4618172645568848, 0.14360620081424713, 0.11279885470867157, 0.5375739932060242, 1.4667024612426758, 0.22941197454929352, 1.653351068496704, 1.0629942417144775, 1.466819167137146, 0.2803340256214142, 1.6558252573013306, 0.9288489818572998, 0.13958841562271118, 1.4690945148468018, 0.20898589491844177, 1.6534546613693237, 1.308121919631958, 0.5628750920295715, -1.1066712141036987, 0.5441796779632568, 0.0, 0.0367196649312973, 0.06279733777046204, -0.531907856464386], "mean": [0.965537965297699, -0.536177396774292, 0.21360693871974945, 1.1398894786834717, -0.5744799375534058, -0.4341152012348175, 0.4487743079662323, 1.1824495792388916, -0.15007901191711426, 0.3659007251262665, -0.307949423789978, 0.7522223591804504, 1.1289653778076172, 0.16736160218715668, 0.17541274428367615, 0.088490329682827, 1.2064635753631592, 0.1462051421403885, 0.004847333766520023, 0.17041002213954926, 0.980108380317688, 0.05434330552816391, 0.004806980490684509, 0.33881303668022156, 0.0544164702296257, 0.7284849882125854, 0.0642232671380043, 0.05943979695439339, 0.05072028934955597, 0.8640241622924805, -0.7332863211631775, 0.4354613125324249, 1.431494951248169, -1.1835620403289795, -0.22334228456020355, -0.1732303500175476, 1.2414621114730835, -0.24196936190128326, 0.24613642692565918, -0.06116563081741333, 0.5715143084526062, 1.2061086893081665, 0.07989906519651413, 0.10019402205944061, 0.47564697265625, 1.4096341133117676, 0.17102432250976562, 1.386236310005188, 0.995317816734314, 1.2894541025161743, 0.1659412533044815, 1.5092626810073853, 0.8348405361175537, 0.1047438234090805, 1.4153482913970947, 0.12505176663398743, 1.3708763122558594, 1.0862054824829102, 0.5624974966049194, -1.1068463325500488, 0.47415652871131897, -0.02075314149260521, 0.018829265609383583, -0.06819090247154236, -0.6868441104888916], "std": [0.053187295794487, 0.08826161921024323, 0.04123656079173088, 0.12658976018428802, 0.14546361565589905, 0.06178184226155281, 0.024788616225123405, 0.15476034581661224, 0.021418452262878418, 0.17717358469963074, 0.03680682182312012, 0.09358754754066467, 0.1588866263628006, 0.03881014138460159, 0.06332151591777802, 0.011116215959191322, 0.2012389898300171, 0.02539411000907421, 0.004804415162652731, 0.057145219296216965, 0.14109671115875244, 0.020777545869350433, 0.001383399241603911, 0.04744936153292656, 0.00874949712306261, 0.0945831760764122, 0.029435839504003525, 0.016839342191815376, 0.015422132797539234, 0.2894386351108551, 0.1943071186542511, 0.2129749357700348, 0.2172289341688156, 0.37970253825187683, 0.18571379780769348, 0.17744417488574982, 0.14194291830062866, 0.05547090247273445, 0.2204403430223465, 0.1758529245853424, 0.06945248693227768, 0.1978146731853485, 0.03443789854645729, 0.01279081217944622, 0.0649975910782814, 0.1690567582845688, 0.023069433867931366, 0.5697451233863831, 0.14630542695522308, 0.3388662338256836, 0.0304267518222332, 0.33942827582359314, 0.14987985789775848, 0.025947505608201027, 0.16558873653411865, 0.02948150783777237, 0.6008989214897156, 0.47410768270492554, 6.900587322888896e-05, 4.7111559979384765e-05, 0.009286765940487385, 0.007547692861407995, 0.009165048599243164, 0.05826051905751228, 0.0933900699019432], "count": [1664]}, "observation.state.joint_torque": {"min": [-47.367000579833984, -10.078499794006348, -21.256999969482422, -10.934000015258789, -0.36000001430511475, -1.340000033378601, 0.7224000096321106, -1.0137279033660889, -0.6189343929290771, -0.7766810059547424, -0.9618417620658875, -0.3370319902896881, -0.38474515080451965, -0.47973212599754333, -0.254019170999527, -0.04066966846585274, -0.5142728090286255, -0.34156927466392517, -0.0531281977891922, -0.022832093760371208, -0.5027592778205872, -1.2751280069351196, -0.0796922892332077, -0.027113113552331924, -0.08664081245660782, -0.32333946228027344, -0.35404229164123535, -0.10957689583301544, -0.027113113552331924, 13.53600025177002, -16.111499786376953, 6.703000068664551, -13.805000305175781, -1.812000036239624, -1.4991999864578247, -2.7871999740600586, -1.4136154651641846, -1.0251896381378174, -0.9742686748504639, -0.8214178085327148, -0.12285894900560379, -0.6035029888153076, -1.1849383115768433, -0.10127562284469604, -0.032821137458086014, -0.5766379833221436, -0.39913713932037354, -0.38351914286613464, -0.02497260272502899, -0.7311117649078369, -0.5545703172683716, -0.3370319902896881, -0.03638865053653717, -0.08180300146341324, -0.715760350227356, -0.9978428483009338, -0.30382686853408813, -0.07420431077480316, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-6.7230000495910645, 14.354999542236328, -0.25999999046325684, 2.878999948501587, 1.8519999980926514, 2.1559998989105225, 3.8399999141693115, 0.7042607665061951, 1.0111807584762573, 1.0587714910507202, 0.9183475971221924, 0.14278201758861542, 0.8260987401008606, 0.744544267654419, 0.35695505142211914, 0.06136125698685646, 0.7042467594146729, 0.8145850896835327, 0.05146794021129608, 0.019978083670139313, 0.55744868516922, 0.2273930311203003, 0.07471152395009995, 0.02425910159945488, 0.15788859128952026, 0.4586239159107208, 0.4068128168582916, 0.10293588042259216, 0.019978083670139313, 43.41600036621094, 15.420000076293945, 22.465999603271484, -0.1770000010728836, -0.006399999838322401, 3.330399990081787, 0.6087999939918518, 2.2477760314941406, 3.7581796646118164, 1.6813589334487915, 1.124634027481079, 0.5312820076942444, 2.141524314880371, 0.7752470374107361, 1.0575830936431885, 0.21405088901519775, 0.542097270488739, 0.36555588245391846, 0.46487167477607727, 0.0321076326072216, 1.1168164014816284, 0.913409948348999, 0.16934612393379211, 0.026399608701467514, 0.4908180236816406, 0.4499887228012085, 0.3502044677734375, 0.21583329141139984, 0.050658710300922394, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-31.853254318237305, 0.795730710029602, -13.794397354125977, -5.85728645324707, 0.2229391187429428, 0.5759665369987488, 1.895909070968628, -0.06276032328605652, 0.0333283394575119, 0.1354358196258545, 0.08975683897733688, -0.00017061547259800136, 0.23843201994895935, 0.21338222920894623, 0.07268606126308441, 0.02251138538122177, 0.00505039794370532, 0.1294637769460678, -0.0014696870930492878, 0.0005188321229070425, 0.030219770967960358, -0.08282549679279327, -0.0004390094836708158, 0.0012344791321083903, 0.006086379289627075, 0.021875033155083656, 0.025791320949792862, 0.0005737077444791794, 0.0004167844890616834, 27.586307525634766, 5.0396528244018555, 14.369017601013184, -6.48901891708374, -0.6432831287384033, 1.205986499786377, -1.1223617792129517, 0.08403679728507996, 0.4542781114578247, 0.1765957474708557, 0.07098047435283661, 0.049400582909584045, 0.36737921833992004, -0.1676986962556839, 0.17188048362731934, 0.0427265428006649, 0.01341693289577961, -0.0031015367712825537, 0.002200039569288492, 0.000764097145292908, 0.000385749590350315, 0.12322838604450226, 0.0012900909641757607, 0.0011564367450773716, 0.17789112031459808, -0.0037934542633593082, -0.1224566251039505, 0.00018059428839478642, 0.00011877485667355359, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.186384916305542, 1.9131275415420532, 1.0240558385849, 0.9856854677200317, 0.23381417989730835, 0.41599056124687195, 0.2920271158218384, 0.19156913459300995, 0.16956697404384613, 0.28189006447792053, 0.18854494392871857, 0.02762981317937374, 0.19639469683170319, 0.18343304097652435, 0.08716294914484024, 0.013317951001226902, 0.18304364383220673, 0.14760589599609375, 0.006720301229506731, 0.004020769149065018, 0.12543216347694397, 0.1776750236749649, 0.005006327293813229, 0.00745566887781024, 0.01851624622941017, 0.08072923868894577, 0.07455533742904663, 0.01867973804473877, 0.00702969916164875, 5.472082138061523, 3.529468536376953, 1.748193383216858, 2.5387470722198486, 0.24713148176670074, 0.5810506939888, 0.6589959263801575, 0.44798555970191956, 0.8906324505805969, 0.2958211898803711, 0.3028964400291443, 0.09399387985467911, 0.5739983916282654, 0.39517611265182495, 0.2748786211013794, 0.06563131511211395, 0.07470008730888367, 0.056416649371385574, 0.02231048047542572, 0.005386470817029476, 0.1937360167503357, 0.2328271120786667, 0.017669131979346275, 0.007318377494812012, 0.15931718051433563, 0.1076437458395958, 0.1882990449666977, 0.019571585580706596, 0.004973184783011675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1664]}, "observation.state.tcp": {"min": [0.35617750883102417, 0.1341307908296585, 1.0345021486282349, -1.238430142402649, 1.0711538791656494, -1.6372779607772827, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.24743184447288513, -0.30363789200782776, 0.9963472485542297, -0.187158465385437, 0.9427002668380737, 0.13467346131801605, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.438801646232605, 0.28175055980682373, 1.1453685760498047, -0.419108122587204, 1.4132274389266968, -1.2289953231811523, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4519334137439728, -0.07588701695203781, 1.2829722166061401, 1.2085940837860107, 2.154844045639038, 1.5474234819412231, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.40835097432136536, 0.18013355135917664, 1.0799782276153564, -0.700375497341156, 1.219346284866333, -1.3391520977020264, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3750654458999634, -0.20283526182174683, 1.125777244567871, 0.4038124680519104, 1.6123937368392944, 0.8074321150779724, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.022511856630444527, 0.022696807980537415, 0.019412711262702942, 0.16189974546432495, 0.05721115693449974, 0.08680149167776108, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06619907915592194, 0.06780470162630081, 0.08416017144918442, 0.3837004005908966, 0.28212255239486694, 0.38088035583496094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1664]}, "action": {"min": [0.8107883334159851, -0.8140576481819153, 0.001792695838958025, 1.0105156898498535, -0.7995997071266174, -0.7659655809402466, 0.29405710101127625, 0.0, -0.19931083917617798, -0.2554451525211334, -0.3490658402442932, 0.0, 0.0, -0.05914313346147537, 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, 0.16241270303726196, -1.1202448606491089, 0.0033664642833173275, 1.1472721099853516, -1.619956374168396, -0.7662248015403748, -0.4308174252510071, 0.0, -0.3436010479927063, -0.13121499121189117, -0.30180007219314575, 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, 0.5624915957450867, -1.1069231033325195, 0.46357133984565735, -0.03835715353488922, -0.007204402703791857, -0.1818893551826477, -0.8431239724159241], "max": [1.0692968368530273, -0.4151638448238373, 0.3862862288951874, 1.5651997327804565, -0.0015032170340418816, -0.24930253624916077, 0.5178478360176086, 1.2533581256866455, 0.0, 0.49839138984680176, 0.0, 0.9787853360176086, 1.1924911737442017, 0.20067447423934937, 0.2712700366973877, 0.0944548174738884, 1.2915198802947998, 0.17833608388900757, 0.03820605203509331, 0.1973176747560501, 1.047990083694458, 0.13164538145065308, 0.018548183143138885, 0.35877910256385803, 0.07930681854486465, 0.7930681705474854, 0.17891108989715576, 0.08227883279323578, 0.07029461860656738, 1.2259522676467896, -0.33690568804740906, 0.8880062699317932, 1.891292929649353, -0.005148992408066988, 0.14829985797405243, 0.5147736072540283, 1.3264141082763672, 0.0, 0.5380799770355225, 0.3490658402442932, 0.6506953239440918, 1.5490282773971558, 0.1428627371788025, 0.116100013256073, 0.5409582257270813, 1.5707963705062866, 0.22982019186019897, 1.7453292608261108, 1.0649181604385376, 1.5707963705062866, 0.2823590636253357, 1.7453292608261108, 0.9311742782592773, 0.14562271535396576, 1.5707963705062866, 0.21524757146835327, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.5442397594451904, 1.3666033913699098e-18, 0.03725270926952362, 0.06426307559013367, -0.5314144492149353], "mean": [0.965640127658844, -0.5363180041313171, 0.21361467242240906, 1.139902949333191, -0.5744785666465759, -0.43410301208496094, 0.44878318905830383, 1.1789319515228271, -0.15029579401016235, 0.3684351146221161, -0.3365035653114319, 0.7546892166137695, 1.132365107536316, 0.17054973542690277, 0.17851342260837555, 0.09051907062530518, 1.2071654796600342, 0.14828774333000183, 0.0014545907033607364, 0.17324711382389069, 0.9830973148345947, 0.05534446984529495, 0.00026036094641312957, 0.34081029891967773, 0.0732547715306282, 0.7325477004051208, 0.06534858047962189, 0.062268972396850586, 0.0532081201672554, 0.8647889494895935, -0.7337391972541809, 0.43508705496788025, 1.4315989017486572, -1.183384895324707, -0.22366492450237274, -0.1733473688364029, 1.242785096168518, -0.24414768815040588, 0.24832648038864136, -0.05897737294435501, 0.5736053586006165, 1.2169654369354248, 0.07966785132884979, 0.10352238267660141, 0.47846776247024536, 1.4947240352630615, 0.16893771290779114, 1.4621716737747192, 0.9978710412979126, 1.3445496559143066, 0.16618552803993225, 1.5849292278289795, 0.8364664912223816, 0.12109288573265076, 1.5026837587356567, 0.12415087968111038, 1.440003514289856, 1.1582461595535278, 0.5624995827674866, -1.1068456172943115, 0.4742046594619751, -0.020801160484552383, 0.018869774416089058, -0.06822137534618378, -0.6868873238563538], "std": [0.053173091262578964, 0.08849235624074936, 0.04131809622049332, 0.12679128348827362, 0.1456160545349121, 0.06188187375664711, 0.024788748472929, 0.1689654141664505, 0.023441972211003304, 0.17816013097763062, 0.046732135117053986, 0.11088187247514725, 0.17228269577026367, 0.041262947022914886, 0.06525368988513947, 0.012549229897558689, 0.21012629568576813, 0.02797452174127102, 0.005883431527763605, 0.058002881705760956, 0.15215612947940826, 0.021553117781877518, 0.0019205089192837477, 0.05126442387700081, 0.010626838542521, 0.10626839846372604, 0.030599096789956093, 0.01837170496582985, 0.016245152801275253, 0.2901705503463745, 0.1945539265871048, 0.2132568508386612, 0.21742644906044006, 0.3797405958175659, 0.18574033677577972, 0.17731361091136932, 0.16101475059986115, 0.06549839675426483, 0.2199823260307312, 0.1830051988363266, 0.08167441189289093, 0.22059966623783112, 0.034954700618982315, 0.014846788719296455, 0.07362747937440872, 0.2143363058567047, 0.025214876979589462, 0.6029535531997681, 0.1562790721654892, 0.37690266966819763, 0.032376259565353394, 0.370530903339386, 0.15674182772636414, 0.029469246044754982, 0.20971950888633728, 0.03088027983903885, 0.633747935295105, 0.5071885585784912, 2.2564116079593077e-05, 1.9294973753858358e-05, 0.009676450863480568, 0.007574841380119324, 0.009215062484145164, 0.058313220739364624, 0.09344282746315002], "count": [1664]}, "observation.state.tcp_pose": {"min": [0.35617750883102417, 0.1341307908296585, 1.0345021486282349, -1.238430142402649, 1.0711538791656494, -1.6372779607772827, 0.24743184447288513, -0.30363789200782776, 0.9963472485542297, -0.187158465385437, 0.9427002668380737, 0.13467346131801605], "max": [0.438801646232605, 0.28175055980682373, 1.1453685760498047, -0.419108122587204, 1.4132274389266968, -1.2289953231811523, 0.4519334137439728, -0.07588701695203781, 1.2829722166061401, 1.2085940837860107, 2.154844045639038, 1.5474234819412231], "mean": [0.40835097432136536, 0.18013355135917664, 1.0799782276153564, -0.700375497341156, 1.219346284866333, -1.3391520977020264, 0.3750654458999634, -0.20283526182174683, 1.125777244567871, 0.4038124680519104, 1.6123937368392944, 0.8074321150779724], "std": [0.022511856630444527, 0.022696807980537415, 0.019412711262702942, 0.16189974546432495, 0.05721115693449974, 0.08680149167776108, 0.06619907915592194, 0.06780470162630081, 0.08416017144918442, 0.3837004005908966, 0.28212255239486694, 0.38088035583496094], "count": [1664]}, "action.tcp_pose": {"min": [0.35650435090065, 0.13469231128692627, 1.034748911857605, -1.2378700971603394, 1.0635987520217896, -1.6375236511230469, 0.24683313071727753, -0.30424126982688904, 0.9961739778518677, -0.18679548799991608, 0.9353159666061401, 0.1349450796842575], "max": [0.440730482339859, 0.2835451364517212, 1.1457136869430542, -0.4199332594871521, 1.41374933719635, -1.2312262058258057, 0.45207029581069946, -0.07579018175601959, 1.2855181694030762, 1.2059446573257446, 2.1549642086029053, 1.5533804893493652], "mean": [0.4083670377731323, 0.18023592233657837, 1.0799998044967651, -0.7003786563873291, 1.2192140817642212, -1.3390545845031738, 0.3750954866409302, -0.20296630263328552, 1.1261200904846191, 0.4035835266113281, 1.6118347644805908, 0.8069140911102295], "std": [0.022614551708102226, 0.022891482338309288, 0.019491752609610558, 0.1619354635477066, 0.0573887974023819, 0.08677428215742111, 0.06632743030786514, 0.06812149286270142, 0.08433366566896439, 0.3838137984275818, 0.28172558546066284, 0.3808801770210266], "count": [1664]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.219951923076923], "std": [6.953809553430473], "count": [1664]}, "observation.tactile": {"min": [-6.940380096435547, -0.0018310546875, -0.00177001953125, -0.07976245880126953, -0.0032939910888671875, -0.14725089073181152, -0.53826904296875, -0.001922607421875, -0.00244140625, -0.051924705505371094, -0.008095741271972656, -0.010073184967041016, -0.039276123046875, -0.002899169921875, -0.00628662109375, -0.0012865066528320312, -0.002864360809326172, -0.0008089542388916016, -0.02893829345703125, -0.01287841796875, -0.00628662109375, -0.0002498626708984375, -0.0008330345153808594, -0.0004456043243408203, -0.017751693725585938, -0.002227783203125, -0.00408935546875, -6.4849853515625e-05, -0.0012955665588378906, -0.00036072731018066406, -1.0009307861328125, -0.0096435546875, -0.0006103515625, -0.3450784683227539, -0.04294109344482422, -0.02167797088623047, -5.680397033691406, -0.007354736328125, -0.001220703125, -0.23923015594482422, -0.01885843276977539, -0.10041046142578125, -0.03304290771484375, -0.005035400390625, -0.005126953125, -0.0009546279907226562, -0.0016531944274902344, -0.00048732757568359375, -0.0086669921875, -0.006317138671875, -0.01458740234375, -0.000324249267578125, -0.0011768341064453125, -0.0004544258117675781, -0.025236129760742188, -0.0040283203125, -0.00341796875, -0.00016021728515625, -0.0007724761962890625, -0.00037384033203125], "max": [0.10423660278320312, 3.53948974609375, 4.7850341796875, 0.0011138916015625, 0.0069751739501953125, 0.0035746097564697266, 2.57061767578125, 2.76263427734375, 4.9637451171875, 0.0015773773193359375, 0.015730857849121094, 0.038831233978271484, 0.0955810546875, 0.307037353515625, 0.19549560546875, 0.000942230224609375, 3.3855438232421875e-05, 0.00022363662719726562, 0.01361846923828125, 0.0, 0.0054931640625, 0.00077056884765625, 0.00022649765014648438, 0.0, 0.016153335571289062, 0.0109710693359375, 0.00469970703125, 0.0013942718505859375, 4.6253204345703125e-05, 0.0, 4.9072723388671875, 18.250274658203125, 16.01617431640625, 0.001415252685546875, 0.014248847961425781, 0.11607837677001953, 0.9206771850585938, 4.97369384765625, 10.87176513671875, 0.00146484375, 0.003976345062255859, 0.01987457275390625, 0.01613616943359375, 0.035186767578125, 0.1141357421875, 0.0012874603271484375, 0.00029587745666503906, 0.0009067058563232422, 0.470794677734375, 0.208526611328125, 0.031707763671875, 0.0016031265258789062, 0.0007381439208984375, 0.010368824005126953, 0.009675979614257812, 0.00732421875, 0.0093994140625, 0.0010623931884765625, 9.822845458984375e-05, 6.198883056640625e-05], "mean": [-3.7265584468841553, 1.665166974067688, 2.137523889541626, -0.03880554065108299, 0.003745706519111991, -0.08113963901996613, 0.14472150802612305, 0.3366718292236328, 1.5803601741790771, -0.01981288567185402, 0.004035518504679203, 0.0024446756578981876, -0.021934829652309418, 0.00846814177930355, 0.002443772042170167, 0.0004631406918633729, -0.0006065924535505474, -9.695125481812283e-05, -0.004447964485734701, -0.006959475111216307, -0.00023585099552292377, 0.00021042961452621967, -7.578043005196378e-05, -0.00020382783259265125, 0.002719825366511941, 0.00242903595790267, 0.0008541620918549597, 0.00041686801705509424, -0.00042641907930374146, -0.00014864790136925876, 1.1507881879806519, 3.3915750980377197, 3.4330949783325195, -0.08164481073617935, -0.0033396915532648563, 0.02422361448407173, -1.1873548030853271, 1.248401165008545, 1.978532314300537, -0.03950623795390129, -0.003885124111548066, -0.021273426711559296, 0.0003267755964770913, 0.002007851144298911, 0.0007185202557593584, 0.0005475368816405535, -0.00034962265635840595, -0.0001850812986958772, 0.009340563789010048, 0.004232360981404781, -0.003240823745727539, 0.0004840137844439596, -0.0005112126818858087, -0.00020270909590180963, -0.0036932630464434624, 0.00040650367736816406, 0.0031484090723097324, 0.00028125138487666845, -0.00014752264542039484, -0.00011035455827368423], "std": [1.6914907693862915, 0.8087019920349121, 1.0307729244232178, 0.01909663900732994, 0.002160661853849888, 0.03664946183562279, 0.32187050580978394, 0.30671778321266174, 0.7705382704734802, 0.00932079553604126, 0.0025458887685090303, 0.004644365515559912, 0.010088124312460423, 0.01902858540415764, 0.009993067011237144, 0.00020228819630574435, 0.000265862385276705, 6.635244790231809e-05, 0.005711741279810667, 0.0017695041606202722, 0.001537933829240501, 0.00013944433885626495, 0.0001254676462849602, 6.805333396187052e-05, 0.001455944962799549, 0.0014217881252989173, 0.0011732458369806409, 0.00014487879525404423, 0.00014278518210630864, 4.78396650578361e-05, 1.6289057731628418, 4.9213995933532715, 4.687979698181152, 0.11110015213489532, 0.01015995442867279, 0.03497302159667015, 1.788622498512268, 1.675435185432434, 2.738189935684204, 0.057950444519519806, 0.004657017067074776, 0.032676126807928085, 0.0062138293869793415, 0.0024596625007689, 0.0033027210738509893, 0.00024260900681838393, 0.00026510749012231827, 0.00010239054972771555, 0.012816726230084896, 0.006599368993192911, 0.003197209443897009, 0.00026970161707140505, 0.0002560862631071359, 0.00027763276011683047, 0.0062953876331448555, 0.0014337011380121112, 0.0020775769371539354, 0.0001530528097646311, 0.00011623342288658023, 6.46388580207713e-05], "count": [1664]}, "timestamp": {"min": [0.0], "max": [55.43333333333333], "mean": [27.716666666666672], "std": [16.01184457414781], "count": [1664]}, "frame_index": {"min": [0], "max": [1663], "mean": [831.5], "std": [480.3553372244343], "count": [1664]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [1664]}, "index": {"min": [4951], "max": [6614], "mean": [5782.5], "std": [480.3553372244343], "count": [1664]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1664]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3288602828979492]], [[0.3281584084033966]], [[0.32791537046432495]]], "std": [[[0.20248715579509735]], [[0.2025204300880432]], [[0.20247793197631836]]], "count": [1664]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30568915605545044]], [[0.3077489137649536]], [[0.3059532344341278]]], "std": [[[0.17266997694969177]], [[0.17501886188983917]], [[0.1735556274652481]]], "count": [1664]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3099275827407837]], [[0.3085334300994873]], [[0.3066830635070801]]], "std": [[[0.17370343208312988]], [[0.17405959963798523]], [[0.17243318259716034]]], "count": [1664]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3243846893310547]], [[0.3236968219280243]], [[0.3236062526702881]]], "std": [[[0.20170262455940247]], [[0.20177699625492096]], [[0.2017751932144165]]], "count": [1664]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7333333492279053]], [[0.7333333492279053]], [[0.7333333492279053]]], "mean": [[[0.004600733518600464]], [[0.004600733518600464]], [[0.004600733518600464]]], "std": [[[0.046746257692575455]], [[0.046746257692575455]], [[0.046746257692575455]]], "count": [1664]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.9607843160629272]], [[0.9607843160629272]], [[0.9607843160629272]]], "mean": [[[0.47458499670028687]], [[0.47458499670028687]], [[0.47458499670028687]]], "std": [[[0.15305858850479126]], [[0.15305858850479126]], [[0.15305858850479126]]], "count": [1664]}}}
+{"episode_index": 4, "stats": {"observation.state": {"min": [0.7996891140937805, -0.7799816727638245, 2.504703115846496e-05, 1.091895580291748, -0.6956817507743835, -0.7699876427650452, 0.3136295676231384, 0.006317191291600466, -0.1978086680173874, -0.21250884234905243, -0.3167715072631836, 0.0024234370794147253, 0.003091940190643072, -0.00018226838437840343, 0.0034243683330714703, 0.0008190020453184843, 0.0038494702894240618, -0.0006392888026311994, 0.0034988264087587595, 0.0008566930191591382, 0.0032204848248511553, -0.0015383787686005235, 0.003063777694478631, 0.0008651180542074144, 0.006295789498835802, 0.0032511490862816572, -0.002449955325573683, 0.0060155135579407215, 0.0008469377062283456, 0.2513761818408966, -1.00518798828125, 0.0005008207517676055, 1.1658388376235962, -1.807224988937378, -0.7695662975311279, -0.4257132112979889, 0.025380603969097137, -0.3175337016582489, -0.11334816366434097, -0.31717607378959656, 0.006925676483660936, 0.014020197093486786, 9.640759526519105e-05, 0.0034899625461548567, 0.001106783514842391, 0.026612909510731697, 0.0005517122917808592, 0.0033892665524035692, 0.005380050279200077, 0.00814124196767807, -0.00019134522881358862, 0.0072412374429404736, 0.0027975551784038544, 0.005524068139493465, 0.041732605546712875, 0.00020189343194942921, 0.003131499281153083, 0.000848267984110862, 0.5616286993026733, -1.1072465181350708, 0.46239933371543884, -0.021092236042022705, 0.0001917476038215682, -0.10210559517145157, -0.776386022567749], "max": [1.0500242710113525, -0.4964712858200073, 0.3814913034439087, 1.5699949264526367, -5.8602861827239394e-05, -0.2899509072303772, 0.5200185179710388, 1.2289739847183228, 0.0010815323330461979, 0.5370206832885742, -0.002449749270454049, 0.9177654385566711, 1.1412726640701294, 0.21241921186447144, 0.25933969020843506, 0.08919008076190948, 1.23605215549469, 0.19136767089366913, 0.03385189175605774, 0.21654599905014038, 0.9684776067733765, 0.12723365426063538, 0.3368627429008484, 0.3552659749984741, 0.06282838433980942, 0.7735669612884521, 0.18396452069282532, 0.05840359628200531, 0.05012008920311928, 1.2470779418945312, -0.2670338451862335, 0.8458220362663269, 1.9045356512069702, -0.0005524727748706937, 0.04984802380204201, 0.5194090008735657, 1.3208833932876587, 0.0018163456115871668, 0.557070255279541, 0.3125072717666626, 0.6337311267852783, 1.466260552406311, 0.15561775863170624, 0.10805657505989075, 0.5171499252319336, 1.4665814638137817, 0.24157387018203735, 1.653355360031128, 1.1230145692825317, 1.466715931892395, 0.2690422236919403, 1.6558805704116821, 0.9288454651832581, 0.1388605833053589, 1.4676949977874756, 0.20371852815151215, 1.653435468673706, 1.308135747909546, 0.5629709362983704, -1.1066712141036987, 0.5434126853942871, -9.58738019107841e-05, 0.02876213937997818, 0.031158985570073128, -0.5292233824729919], "mean": [0.9231129884719849, -0.5629273056983948, 0.24878497421741486, 1.1847994327545166, -0.5998496413230896, -0.41268450021743774, 0.4643694758415222, 1.1782559156417847, -0.16154462099075317, 0.4531092047691345, -0.3077218234539032, 0.764022171497345, 1.0914926528930664, 0.1704232394695282, 0.1932554841041565, 0.0849253386259079, 1.1639304161071777, 0.1460631787776947, 0.015911977738142014, 0.1953437775373459, 0.9237935543060303, 0.04990609735250473, 0.055556342005729675, 0.3432319164276123, 0.05255008488893509, 0.716588020324707, 0.058153606951236725, 0.03749169409275055, 0.0324864462018013, 0.8421728610992432, -0.6952881813049316, 0.43449848890304565, 1.4253394603729248, -1.2377653121948242, -0.3123021125793457, -0.10997530072927475, 1.2415947914123535, -0.24795229732990265, 0.25954148173332214, -0.07718707621097565, 0.5659664869308472, 1.2235974073410034, 0.08162115514278412, 0.09988246113061905, 0.4618734121322632, 1.3880207538604736, 0.18418186902999878, 1.4334001541137695, 1.0049004554748535, 1.3333908319473267, 0.17133507132530212, 1.4687448740005493, 0.8476924896240234, 0.10429361462593079, 1.434646487236023, 0.13502709567546844, 1.4205056428909302, 1.135012149810791, 0.5624974370002747, -1.1068476438522339, 0.47035375237464905, -0.015902895480394363, 0.014920498244464397, -0.021240729838609695, -0.660506010055542], "std": [0.03952354937791824, 0.06782612949609756, 0.043181318789720535, 0.1127389445900917, 0.12806622684001923, 0.05577146261930466, 0.039068080484867096, 0.1510898768901825, 0.021227795630693436, 0.16083253920078278, 0.039212167263031006, 0.09806014597415924, 0.14940597116947174, 0.02985447086393833, 0.05964202433824539, 0.011023439466953278, 0.1814076453447342, 0.022630082443356514, 0.00886196456849575, 0.0528663694858551, 0.13086016476154327, 0.01907874457538128, 0.04581636190414429, 0.04777592048048973, 0.008158816024661064, 0.09439937025308609, 0.029330313205718994, 0.010850883089005947, 0.010571409948170185, 0.2581815719604492, 0.19004040956497192, 0.17612043023109436, 0.1879095584154129, 0.3576291799545288, 0.2002922147512436, 0.18877340853214264, 0.14893262088298798, 0.05813801661133766, 0.21307148039340973, 0.14110907912254333, 0.0734214186668396, 0.20004789531230927, 0.034071989357471466, 0.013890796341001987, 0.07082883268594742, 0.1814422905445099, 0.02689749002456665, 0.5222480893135071, 0.1780301183462143, 0.24510180950164795, 0.03524239733815193, 0.4548935890197754, 0.12749050557613373, 0.02334771305322647, 0.15138065814971924, 0.024928299710154533, 0.5105909705162048, 0.4018006920814514, 7.187224400695413e-05, 4.237195025780238e-05, 0.009224271401762962, 0.004843108355998993, 0.005622494034469128, 0.034732550382614136, 0.07806307077407837], "count": [1603]}, "observation.state.joint_torque": {"min": [-39.31050109863281, -8.753999710083008, -18.160999298095703, -12.489999771118164, -0.40639999508857727, -0.7888000011444092, 1.090399980545044, -0.9500515460968018, -0.5552579760551453, -0.831359326839447, -0.8624265789985657, -0.35695505142211914, -0.3271773159503937, -0.5670433640480042, -0.24405762553215027, -0.04209667816758156, -0.5248269438743591, -0.31854212284088135, -0.08135254681110382, -0.021405089646577835, -0.477813184261322, -1.041978120803833, -0.3005063533782959, -0.027826614677906036, -0.0971960499882698, -0.3473260700702667, -0.4634212255477905, -0.08135254681110382, -0.02925362065434456, 14.934000015258789, -10.39799976348877, 6.3429999351501465, -15.045000076293945, -2.098400115966797, -1.4184000492095947, -3.2207999229431152, -1.4543684720993042, -1.0009925365447998, -0.48837700486183167, -1.0078212022781372, -0.12451920658349991, -0.47205638885498047, -1.2616955041885376, -0.10293588042259216, -0.022832093760371208, -0.3885830044746399, -0.3079880177974701, -0.5013973712921143, -0.02925362065434456, -0.8021121025085449, -0.5603271126747131, -0.167685866355896, -0.02425910159945488, -0.07344678789377213, -0.7541388869285583, -1.1388839483261108, -0.16602559387683868, -0.03567514568567276, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-20.198999404907227, 13.159500122070312, -6.228000164031982, -1.8739999532699585, 1.8911999464035034, 1.460800051689148, 4.311999797821045, 0.8647252321243286, 0.666054904460907, 0.9854528903961182, 0.9258037209510803, 0.12949997186660767, 0.764693021774292, 0.7570172548294067, 0.4084230065345764, 0.07991233468055725, 0.6217328310012817, 0.7560577988624573, 0.07139100879430771, 0.02497260272502899, 0.7944363951683044, 0.28783929347991943, 0.16104483604431152, 0.02425910159945488, 0.16756421327590942, 0.37994784116744995, 0.36843425035476685, 0.09629485011100769, 0.022118592634797096, 53.7599983215332, 21.127500534057617, 30.066999435424805, -0.5870000123977661, 0.03999999910593033, 3.1184000968933105, 0.5239999890327454, 1.4772919416427612, 3.0844836235046387, 1.62543785572052, 1.3483182191848755, 0.5395832657814026, 1.988969326019287, 0.3722721040248871, 1.0110958814620972, 0.1976403146982193, 0.5142728090286255, 0.364596426486969, 0.3718973398208618, 0.03068062849342823, 0.8117067217826843, 0.9450722336769104, 0.39514094591140747, 0.022832093760371208, 0.49125784635543823, 0.39242085814476013, 0.4116101562976837, 0.32374992966651917, 0.05993425101041794, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-31.243989944458008, 1.3029906749725342, -14.000822067260742, -6.322117805480957, 0.2137356549501419, 0.5116828083992004, 1.885292649269104, -0.024684032425284386, -0.008440387435257435, 0.07626353949308395, 0.03511158749461174, 0.006105564534664154, 0.2066708207130432, 0.19800394773483276, 0.06797313690185547, 0.029943952336907387, 0.006854522041976452, 0.14710623025894165, -0.0022702906280755997, -0.0002091997885145247, 0.024932289496064186, -0.0800439715385437, -0.0008886497234925628, 2.848563417501282e-05, 0.0070480662398040295, 0.02047794684767723, 0.022232867777347565, -0.00024028815096244216, -0.0014546031598001719, 27.645038604736328, 4.252887725830078, 13.995579719543457, -6.959571838378906, -0.656489372253418, 1.234704852104187, -1.1311126947402954, 0.04956740513443947, 0.4334489107131958, 0.2161930352449417, 0.06731215864419937, 0.04895424470305443, 0.29253435134887695, -0.16141027212142944, 0.1352698653936386, 0.036627255380153656, 0.009555114433169365, -0.008785399608314037, 0.001748295733705163, 0.0018747815629467368, -0.0004722285957541317, 0.08784758299589157, 0.0025457970332354307, -0.0009164735092781484, 0.16330622136592865, 0.008714757859706879, -0.08140186965465546, -0.002806794596835971, -0.00019184016855433583, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.8699994087219238, 1.6629337072372437, 0.9152798652648926, 0.9870246052742004, 0.2623574733734131, 0.33863741159439087, 0.3663455545902252, 0.16788777709007263, 0.08578554540872574, 0.23707808554172516, 0.16410841047763824, 0.03126998618245125, 0.16452060639858246, 0.17159950733184814, 0.07480023801326752, 0.01711571402847767, 0.18156090378761292, 0.15756262838840485, 0.010657968930900097, 0.0053371707908809185, 0.1424897164106369, 0.15148475766181946, 0.016960512846708298, 0.004703953862190247, 0.021105553954839706, 0.06750296801328659, 0.08836336433887482, 0.013307598419487476, 0.005772734526544809, 4.774710178375244, 3.3142709732055664, 2.0698444843292236, 2.751368761062622, 0.26981887221336365, 0.6169849038124084, 0.6225445866584778, 0.4104177951812744, 0.7419970631599426, 0.34003007411956787, 0.30183646082878113, 0.08230957388877869, 0.4921669661998749, 0.32006973028182983, 0.2087491750717163, 0.05175869166851044, 0.09701886028051376, 0.061753518879413605, 0.022427629679441452, 0.005373715423047543, 0.1610117256641388, 0.19719849526882172, 0.02008710987865925, 0.007076452486217022, 0.1513901948928833, 0.1016206219792366, 0.17058686912059784, 0.026840323582291603, 0.00481731491163373, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1603]}, "observation.state.tcp": {"min": [0.3540375530719757, 0.1573309451341629, 1.0292900800704956, -1.2088910341262817, 1.091444492340088, -1.6262320280075073, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2519455552101135, -0.29079627990722656, 0.9811269640922546, -0.2806493937969208, 0.7207023501396179, 0.16784365475177765, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4192740023136139, 0.24586299061775208, 1.1372582912445068, -0.5229170322418213, 1.3823457956314087, -1.2291176319122314, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4344966411590576, -0.07366122305393219, 1.2655264139175415, 1.2080122232437134, 1.9849827289581299, 1.389491081237793, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.39771580696105957, 0.1798134744167328, 1.0765043497085571, -0.6805378794670105, 1.2268120050430298, -1.3770519495010376, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.36912035942077637, -0.19048167765140533, 1.118058204650879, 0.3799472749233246, 1.513106346130371, 0.8379841446876526, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.017312943935394287, 0.013630148954689503, 0.018443899229168892, 0.14314281940460205, 0.050731904804706573, 0.06592891365289688, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.058069050312042236, 0.06985008716583252, 0.08395203948020935, 0.3992215394973755, 0.30057233572006226, 0.33716487884521484, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1603]}, "action": {"min": [0.7996955513954163, -0.7799999713897705, 1.9209347358800495e-17, 1.0918514728546143, -0.6956709027290344, -0.7699999809265137, 0.3136501610279083, 0.0, -0.19442135095596313, -0.21220599114894867, -0.3490658402442932, 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, 0.2513849437236786, -1.005549430847168, 0.0011544249719008803, 1.1658480167388916, -1.8072199821472168, -0.7689710855484009, -0.4259507954120636, 0.0, -0.33247965574264526, -0.11434122174978256, -0.3313291668891907, 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, 0.5624915957450867, -1.1069231033325195, 0.46210187673568726, -0.021343795582652092, -1.1803736026209462e-18, -0.10356910526752472, -0.7765006422996521], "max": [1.0499999523162842, -0.49644210934638977, 0.3815547823905945, 1.5700000524520874, -4.111074740370992e-17, -0.28905242681503296, 0.5199999809265137, 1.2397440671920776, 0.0, 0.5461652874946594, 0.0, 0.9229962825775146, 1.1437143087387085, 0.2109331488609314, 0.2638351619243622, 0.0924990177154541, 1.238021969795227, 0.2004827857017517, 0.042677201330661774, 0.21851539611816406, 0.9703556895256042, 0.1306867003440857, 0.34101420640945435, 0.35983365774154663, 0.07817547023296356, 0.781754732131958, 0.18389654159545898, 0.06335333734750748, 0.054187845438718796, 1.247145414352417, -0.26660993695259094, 0.8459458351135254, 1.9049264192581177, -0.0016294014640152454, 0.050087157636880875, 0.5185232162475586, 1.3267974853515625, 0.0, 0.558501124382019, 0.3490658402442932, 0.64034104347229, 1.5579166412353516, 0.15896958112716675, 0.11448819935321808, 0.5203645825386047, 1.5707963705062866, 0.24372190237045288, 1.7453292608261108, 1.126469373703003, 1.5707963705062866, 0.2696077227592468, 1.7453292608261108, 0.9303116798400879, 0.14596785604953766, 1.5707963705062866, 0.20941239595413208, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.5442397594451904, 5.975706548978219e-20, 0.029705051332712173, 0.031119640916585922, -0.5287938714027405], "mean": [0.9231271743774414, -0.5629400610923767, 0.24873383343219757, 1.184762954711914, -0.5998308062553406, -0.4126700758934021, 0.46454501152038574, 1.1782163381576538, -0.16101467609405518, 0.45621031522750854, -0.34058046340942383, 0.7671548128128052, 1.095707893371582, 0.17324542999267578, 0.19701337814331055, 0.0891595259308815, 1.1656808853149414, 0.15011614561080933, 0.01685175858438015, 0.19831784069538116, 0.928989589214325, 0.05153392255306244, 0.056809015572071075, 0.346618115901947, 0.07211870700120926, 0.7211868166923523, 0.060854531824588776, 0.041030414402484894, 0.03515329211950302, 0.8426749110221863, -0.6955398321151733, 0.4343028962612152, 1.4254692792892456, -1.2375398874282837, -0.31261688470840454, -0.11004682630300522, 1.243910312652588, -0.2475249022245407, 0.2615896463394165, -0.0768548920750618, 0.5693365335464478, 1.233221411705017, 0.08004791289567947, 0.10201837122440338, 0.46429362893104553, 1.45546555519104, 0.18198387324810028, 1.5116206407546997, 1.0069389343261719, 1.390227198600769, 0.17070339620113373, 1.5437928438186646, 0.8492020964622498, 0.12235189974308014, 1.5269290208816528, 0.13518241047859192, 1.4863735437393188, 1.202161431312561, 0.5625, -1.1068470478057861, 0.47041356563568115, -0.015945715829730034, 0.014962319284677505, -0.021251128986477852, -0.6605778932571411], "std": [0.03957108035683632, 0.06784044206142426, 0.04337223619222641, 0.11283848434686661, 0.12835454940795898, 0.05591689422726631, 0.038766250014305115, 0.165170356631279, 0.024003321304917336, 0.16385658085346222, 0.049246896058321, 0.11330064386129379, 0.1627802550792694, 0.03216279298067093, 0.061585746705532074, 0.012784074991941452, 0.19007155299186707, 0.02563043311238289, 0.008368038572371006, 0.054109182208776474, 0.1419564187526703, 0.020114010199904442, 0.04710342362523079, 0.05187010020017624, 0.010549322701990604, 0.10549324005842209, 0.031101137399673462, 0.012848705984652042, 0.011017379350960255, 0.25859594345092773, 0.19024114310741425, 0.17613950371742249, 0.18815985321998596, 0.3577333092689514, 0.20018668472766876, 0.18856680393218994, 0.16697311401367188, 0.06473012268543243, 0.2133008986711502, 0.1450788676738739, 0.08445358276367188, 0.21854808926582336, 0.03285345435142517, 0.01535822544246912, 0.07809106260538101, 0.2277814894914627, 0.030523018911480904, 0.5539703369140625, 0.1865902692079544, 0.28503715991973877, 0.03743686154484749, 0.4894982874393463, 0.13524098694324493, 0.026927774772047997, 0.18965736031532288, 0.02743847481906414, 0.5420254468917847, 0.43114566802978516, 2.4252025468740612e-05, 1.819501630961895e-05, 0.009709760546684265, 0.004873858764767647, 0.005678026471287012, 0.03478453680872917, 0.07810720801353455], "count": [1603]}, "observation.state.tcp_pose": {"min": [0.3540375530719757, 0.1573309451341629, 1.0292900800704956, -1.2088910341262817, 1.091444492340088, -1.6262320280075073, 0.2519455552101135, -0.29079627990722656, 0.9811269640922546, -0.2806493937969208, 0.7207023501396179, 0.16784365475177765], "max": [0.4192740023136139, 0.24586299061775208, 1.1372582912445068, -0.5229170322418213, 1.3823457956314087, -1.2291176319122314, 0.4344966411590576, -0.07366122305393219, 1.2655264139175415, 1.2080122232437134, 1.9849827289581299, 1.389491081237793], "mean": [0.39771580696105957, 0.1798134744167328, 1.0765043497085571, -0.6805378794670105, 1.2268120050430298, -1.3770519495010376, 0.36912035942077637, -0.19048167765140533, 1.118058204650879, 0.3799472749233246, 1.513106346130371, 0.8379841446876526], "std": [0.017312943935394287, 0.013630148954689503, 0.018443899229168892, 0.14314281940460205, 0.050731904804706573, 0.06592891365289688, 0.058069050312042236, 0.06985008716583252, 0.08395203948020935, 0.3992215394973755, 0.30057233572006226, 0.33716487884521484], "count": [1603]}, "action.tcp_pose": {"min": [0.35420557856559753, 0.15748193860054016, 1.0290169715881348, -1.208855390548706, 1.0908458232879639, -1.6279795169830322, 0.2520867586135864, -0.29051488637924194, 0.9812642335891724, -0.2809804379940033, 0.7192118167877197, 0.16731716692447662], "max": [0.4201667308807373, 0.24495001137256622, 1.137803554534912, -0.5225712656974792, 1.3818410634994507, -1.2289544343948364, 0.4343712329864502, -0.07351033389568329, 1.270930290222168, 1.20747971534729, 1.9851622581481934, 1.4123350381851196], "mean": [0.3977230489253998, 0.17985279858112335, 1.07645845413208, -0.6805282235145569, 1.2267332077026367, -1.3770462274551392, 0.3691428601741791, -0.19051821529865265, 1.1182732582092285, 0.3798938989639282, 1.5126980543136597, 0.8379209041595459], "std": [0.017403876408934593, 0.01358514092862606, 0.018466679379343987, 0.1430233120918274, 0.050648756325244904, 0.06587843596935272, 0.058112967759370804, 0.07009345293045044, 0.08407885581254959, 0.3995495140552521, 0.3001648783683777, 0.3372504711151123], "count": [1603]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.34061135371179], "std": [6.95650986093859], "count": [1603]}, "observation.tactile": {"min": [-7.944759368896484, -0.00640869140625, 0.0, -0.12669658660888672, -0.008196830749511719, -0.1728830337524414, -1.2412548065185547, -0.003265380859375, -0.00946044921875, -0.20494747161865234, -0.016247272491455078, -0.0268704891204834, -0.8378429412841797, -0.022796630859375, -0.0201416015625, -0.02006244659423828, -0.0038862228393554688, -0.013120889663696289, -0.02146148681640625, -0.00506591796875, -0.00482177734375, -0.0003757476806640625, -0.0005054473876953125, -0.00031113624572753906, -0.0012760162353515625, -0.0028533935546875, -0.00360107421875, 0.0, -0.0009512901306152344, -0.00032901763916015625, -0.08433151245117188, -0.01934814453125, -0.00177001953125, -0.3352518081665039, -0.04499626159667969, -0.013260126113891602, -8.712425231933594, -0.00872802734375, 0.0, -0.1649637222290039, -0.033281803131103516, -0.13749909400939941, -0.03134918212890625, -0.00738525390625, -0.00848388671875, -0.00019931793212890625, -0.0013589859008789062, -0.0006911754608154297, -0.025562286376953125, -0.014190673828125, -0.00701904296875, -0.0021219253540039062, -0.0012454986572265625, -0.0009717941284179688, -0.015672683715820312, -0.0048828125, -0.00775146484375, -0.00014495849609375, -0.0012149810791015625, -0.0004754066467285156], "max": [0.08496475219726562, 4.4552001953125, 5.49200439453125, 0.000804901123046875, 0.0022382736206054688, 0.004359245300292969, 4.435503005981445, 7.37225341796875, 14.98388671875, 0.00072479248046875, 0.020526409149169922, 0.0755312442779541, 0.8291492462158203, 0.673431396484375, 1.23919677734375, 0.0031652450561523438, 0.004601478576660156, 0.013215780258178711, 0.008373260498046875, 0.00604248046875, 0.00531005859375, 0.000438690185546875, 0.00014591217041015625, 4.8160552978515625e-05, 0.016248703002929688, 0.0075531005859375, 0.00604248046875, 0.001056671142578125, 4.76837158203125e-07, 0.0, 4.731281280517578, 20.1253662109375, 13.8680419921875, 0.0024633407592773438, 0.013170242309570312, 0.08551764488220215, 0.7905044555664062, 9.508819580078125, 7.03515625, 0.0020818710327148438, 0.005414485931396484, 0.015912771224975586, 0.02661895751953125, 0.0072021484375, 0.01800537109375, 0.0012912750244140625, 0.00048160552978515625, 9.870529174804688e-05, 0.4812126159667969, 0.06927490234375, 0.03948974609375, 0.0016012191772460938, 0.002162933349609375, 0.006537437438964844, 0.017805099487304688, 0.017181396484375, 0.01629638671875, 0.001392364501953125, 0.0003151893615722656, 7.748603820800781e-05], "mean": [-2.8060150146484375, 1.6780925989151, 1.1639012098312378, -0.02504594810307026, -0.001269968575797975, -0.06760160624980927, 0.34931203722953796, 0.781086802482605, 2.6587181091308594, -0.04175039380788803, 0.0020638802088797092, 0.0033568486105650663, -0.02474714256823063, 0.010154586285352707, 0.008324426598846912, -0.0001472263684263453, -0.0004660391714423895, 1.7790665879147127e-05, 0.001048578880727291, 0.00050215027295053, 0.00047796277794986963, 1.9165105186402798e-05, -6.412195216398686e-05, -4.133133916184306e-05, 0.004215110559016466, 0.0026988638564944267, 0.0009169742115773261, 0.0005547481123358011, -0.0005406750133261085, -0.00018199555051978678, 0.742157518863678, 2.9396986961364746, 3.021064043045044, -0.07495799660682678, -0.006651062518358231, 0.016929639503359795, -1.3180029392242432, 1.188913345336914, 1.5952874422073364, -0.031526315957307816, -0.002929165493696928, -0.026818716898560524, 0.007507705129683018, -0.0006788685568608344, -0.003347681136801839, 0.0005357966292649508, -0.0006253132014535367, -0.00034277696977369487, 0.014000548049807549, -0.0001580041425768286, 0.0033217708114534616, 0.0002734695444814861, -0.0006409267080016434, -0.0003903899050783366, 0.0038085433188825846, 0.00027991263777948916, -0.002723812824115157, 0.0005519043770618737, -0.0004498106427490711, -0.00020069163292646408], "std": [1.248364806175232, 0.7652732133865356, 0.6300752758979797, 0.014345523901283741, 0.0012483580503612757, 0.029396086931228638, 0.5656285881996155, 0.7375392913818359, 1.6173996925354004, 0.023194173350930214, 0.00306342332623899, 0.00964428298175335, 0.07039912790060043, 0.04057703912258148, 0.0767316222190857, 0.0009974166750907898, 0.00048291176790371537, 0.0010851904517039657, 0.00185483624227345, 0.001552786328829825, 0.0014037725050002337, 0.00011510237527545542, 8.728438115213066e-05, 4.0476719732396305e-05, 0.0023386694956570864, 0.0014326247619464993, 0.0012010751524940133, 0.000150788837345317, 0.00013164740812499076, 4.7303597966674715e-05, 1.017583966255188, 4.206511497497559, 4.082173824310303, 0.10145369172096252, 0.013025686144828796, 0.021396996453404427, 1.8518340587615967, 1.6207354068756104, 2.0292770862579346, 0.0426829569041729, 0.005013791378587484, 0.037575241178274155, 0.005941260140389204, 0.0011890052119269967, 0.0019972077570855618, 0.0003104646457359195, 0.000329415692249313, 0.0001363839692203328, 0.03295019641518593, 0.003859205637127161, 0.0033166564535349607, 0.0002749206905718893, 0.0003171386197209358, 0.0004652671341318637, 0.0030925546307116747, 0.001308390055783093, 0.0017293354030698538, 0.00028349272906780243, 0.0002839588560163975, 0.00010443019709782675], "count": [1603]}, "timestamp": {"min": [0.0], "max": [53.4], "mean": [26.699999999999996], "std": [15.424871690444192], "count": [1603]}, "frame_index": {"min": [0], "max": [1602], "mean": [801.0], "std": [462.7461507133258], "count": [1603]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [1603]}, "index": {"min": [6615], "max": [8217], "mean": [7416.0], "std": [462.7461507133258], "count": [1603]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1603]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.32074597477912903]], [[0.32004067301750183]], [[0.31996724009513855]]], "std": [[[0.19721819460391998]], [[0.19725891947746277]], [[0.19728027284145355]]], "count": [1603]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3043746054172516]], [[0.30583518743515015]], [[0.3034658133983612]]], "std": [[[0.1714240312576294]], [[0.17342574894428253]], [[0.1720215231180191]]], "count": [1603]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30946341156959534]], [[0.308011531829834]], [[0.30606821179389954]]], "std": [[[0.1747913807630539]], [[0.17505379021167755]], [[0.17346526682376862]]], "count": [1603]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3150646984577179]], [[0.3143847584724426]], [[0.3144696056842804]]], "std": [[[0.1950046420097351]], [[0.1950644850730896]], [[0.1951255351305008]]], "count": [1603]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7568627595901489]], [[0.7568627595901489]], [[0.7568627595901489]]], "mean": [[[0.005385502707213163]], [[0.005385502707213163]], [[0.005385502707213163]]], "std": [[[0.048628970980644226]], [[0.048628970980644226]], [[0.048628970980644226]]], "count": [1603]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.9960784316062927]], [[0.9960784316062927]], [[0.9960784316062927]]], "mean": [[[0.4748136103153229]], [[0.4748136103153229]], [[0.4748136103153229]]], "std": [[[0.15289746224880219]], [[0.15289746224880219]], [[0.15289746224880219]]], "count": [1603]}}}
+{"episode_index": 5, "stats": {"observation.state": {"min": [0.8198432326316833, -0.7799823880195618, 2.9720877137151547e-05, 1.1578370332717896, -0.8201176524162292, -0.7699772119522095, 0.2958056628704071, 0.007668294012546539, -0.20264410972595215, -0.21054324507713318, -0.3279932737350464, 0.0023968450259417295, 0.003194236196577549, -7.015996379777789e-05, 0.003396357875317335, 0.0008411731687374413, 0.00377464946359396, -0.0005892446497455239, 0.003504144726321101, 0.0008531456696800888, 0.003254583338275552, 6.672552262898535e-05, 0.0030300943180918694, 0.0008713259594514966, 0.0060239206068217754, 0.0032624334562569857, -0.0019021821208298206, 0.006475735921412706, 0.0008633443503640592, 0.1210823506116867, -1.0502870082855225, 0.00042028678581118584, 1.1355897188186646, -1.6935229301452637, -0.7696272730827332, -0.5836380124092102, 0.009489336982369423, -0.3187910318374634, -0.14376547932624817, -0.2993931174278259, 0.006904402747750282, 0.0078058973886072636, 7.727471529506147e-05, 0.0034991807769984007, 0.0018016272224485874, 0.01625034771859646, 0.0008323519723489881, 0.003412313060835004, 0.002758977236226201, 0.006158612668514252, -0.0001682855363469571, 0.005171653814613819, 0.0031602750532329082, 0.010575042106211185, 0.01598270982503891, 0.00040133396396413445, 0.0031825562473386526, 0.0008345218957401812, 0.5617246031761169, -1.107150673866272, 0.459810733795166, -0.025502430275082588, 0.0, -0.08504006266593933, -0.8008338212966919], "max": [1.0500292778015137, -0.5112435817718506, 0.36364248394966125, 1.6139256954193115, -1.9773971871472895e-05, -0.2608910799026489, 0.5200080871582031, 1.2592089176177979, -5.275795410852879e-05, 0.6235657334327698, -0.002482516225427389, 0.9256657958030701, 1.2530938386917114, 0.21514178812503815, 0.2231515794992447, 0.09430983662605286, 1.3223718404769897, 0.20688176155090332, 0.064119853079319, 0.2825353145599365, 0.9524053931236267, 0.1596500128507614, 0.38125932216644287, 0.3599667251110077, 0.06149793788790703, 0.7850667238235474, 0.2231922447681427, 0.22002291679382324, 0.18879349529743195, 1.2044856548309326, -0.35688862204551697, 1.0028926134109497, 1.9543696641921997, -0.0006533798878081143, 0.1621391326189041, 0.5194905996322632, 1.3265982866287231, -0.0012842519208788872, 0.618005633354187, 0.31452327966690063, 0.6383914947509766, 1.4547436237335205, 0.15708398818969727, 0.11035414785146713, 0.5512868165969849, 1.4667675495147705, 0.21966905891895294, 1.6533528566360474, 1.0490472316741943, 1.4666467905044556, 0.23485445976257324, 1.6537227630615234, 0.9195610880851746, 0.12425033003091812, 1.4666376113891602, 0.2036375254392624, 1.6534535884857178, 1.3081227540969849, 0.5628750920295715, -1.1065753698349, 0.5441796779632568, 0.0, 0.027707528322935104, 0.08130098134279251, -0.5449466705322266], "mean": [0.9376532435417175, -0.5907264947891235, 0.22670334577560425, 1.2477351427078247, -0.6627302169799805, -0.4667090177536011, 0.44256287813186646, 1.1963694095611572, -0.17719729244709015, 0.5398060083389282, -0.3101158142089844, 0.713200569152832, 1.1951428651809692, 0.1966681331396103, 0.1595328450202942, 0.08873546123504639, 1.2459254264831543, 0.17381727695465088, 0.0072070760652422905, 0.2335127890110016, 0.9083127379417419, 0.08777475357055664, 0.2996170222759247, 0.3433178663253784, 0.059892550110816956, 0.7458763718605042, 0.10405144840478897, 0.08766701072454453, 0.07502181082963943, 0.8478518128395081, -0.7104872465133667, 0.45587092638015747, 1.4705923795700073, -1.2375789880752563, -0.20657765865325928, -0.21536804735660553, 1.256201148033142, -0.24754919111728668, 0.2889103889465332, -0.056050799787044525, 0.5832564234733582, 1.2292568683624268, 0.08879581838846207, 0.10087192803621292, 0.4815235733985901, 1.4178556203842163, 0.17408230900764465, 1.391859769821167, 0.9818384647369385, 1.3501664400100708, 0.17250588536262512, 1.441940426826477, 0.8358570337295532, 0.10286638885736465, 1.4292477369308472, 0.14089462161064148, 1.3445091247558594, 1.0816285610198975, 0.5624963045120239, -1.1068438291549683, 0.46664857864379883, -0.017723379656672478, 0.012426445260643959, -0.02265535481274128, -0.6739994287490845], "std": [0.03167341277003288, 0.0691710039973259, 0.03844065219163895, 0.10031426697969437, 0.18128640949726105, 0.066494420170784, 0.028463095426559448, 0.14011752605438232, 0.021853208541870117, 0.1754624992609024, 0.036201972514390945, 0.09219588339328766, 0.1655941605567932, 0.03460177779197693, 0.04993897303938866, 0.011136436834931374, 0.19742229580879211, 0.025359299033880234, 0.008115327917039394, 0.06802324950695038, 0.12362287938594818, 0.020555635914206505, 0.07000761479139328, 0.04489512741565704, 0.006464691832661629, 0.09825056046247482, 0.03008474037051201, 0.034460145980119705, 0.03021066077053547, 0.31558912992477417, 0.17119179666042328, 0.2664529085159302, 0.19807393848896027, 0.3859648108482361, 0.18972861766815186, 0.19394122064113617, 0.13990287482738495, 0.05466858297586441, 0.21833692491054535, 0.19915299117565155, 0.07147404551506042, 0.1955161690711975, 0.03555570915341377, 0.012818188406527042, 0.06287644058465958, 0.15928317606449127, 0.021758893504738808, 0.5704104900360107, 0.15773698687553406, 0.247425377368927, 0.026886213570833206, 0.4767521917819977, 0.13382887840270996, 0.02224058285355568, 0.14940311014652252, 0.029644528403878212, 0.5894511938095093, 0.46965327858924866, 6.816790119046345e-05, 4.549199729808606e-05, 0.009033764712512493, 0.004769765771925449, 0.0053590163588523865, 0.03915044292807579, 0.0795498862862587], "count": [1711]}, "observation.state.joint_torque": {"min": [-41.368499755859375, -19.937999725341797, -19.961000442504883, -16.40399932861328, -0.31679999828338623, -2.5160000324249268, 1.0751999616622925, -1.670868158340454, -0.6800636649131775, -0.9792393445968628, -0.4473682641983032, -0.3602755665779114, -0.30127179622650146, -0.9258829951286316, -0.25899994373321533, -0.04138316959142685, -0.4662996232509613, -0.3463665843009949, -0.06807050108909607, -0.021405089646577835, -0.48165103793144226, -1.1609517335891724, -0.10293588042259216, -0.032821137458086014, -0.10159404575824738, -0.44806981086730957, -0.39433977007865906, -0.10957689583301544, -0.028540121391415596, 12.262499809265137, -18.0314998626709, 6.565000057220459, -18.52199935913086, -1.8832000494003296, -2.0480000972747803, -3.0280001163482666, -1.7842119932174683, -1.0175484418869019, -1.1059937477111816, -0.7244880199432373, -0.12285894900560379, -0.5689622759819031, -1.2760874032974243, -0.09131408482789993, -0.01855107769370079, -0.29263660311698914, -0.2657715976238251, -0.7603973150253296, -0.045664187520742416, -0.6994494199752808, -0.5305837392807007, -0.22745507955551147, -0.021405089646577835, -0.07432638853788376, -0.4125696122646332, -0.820341944694519, -0.39514094591140747, -0.08133933693170547, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-17.116500854492188, 16.479000091552734, -4.521999835968018, 2.2639999389648438, 1.840000033378601, 1.8079999685287476, 4.701600074768066, 2.0478322505950928, 3.3875832557678223, 1.7733180522918701, 1.6428356170654297, 0.3984614610671997, 2.142483711242676, 0.8174635767936707, 1.0559228658676147, 0.21405088901519775, 0.6198139190673828, 0.6965711116790771, 0.2108525186777115, 0.06492877006530762, 0.5181106925010681, 0.3550017774105072, 0.10293588042259216, 0.02425910159945488, 0.0835622102022171, 0.3761099576950073, 0.442313015460968, 0.10957689583301544, 0.019264578819274902, 49.747501373291016, 18.247499465942383, 29.47100067138672, 2.8540000915527344, 0.11840000003576279, 3.567199945449829, 0.7423999905586243, 1.7307238578796387, 3.891900062561035, 1.652777075767517, 1.352046251296997, 0.5013973712921143, 2.141524314880371, 0.5401784181594849, 1.0559228658676147, 0.21405088901519775, 0.4615022838115692, 0.364596426486969, 0.3536345660686493, 0.020691584795713425, 0.8702340126037598, 0.8827071189880371, 0.1759871542453766, 0.027826614677906036, 0.4908180236816406, 0.4451914131641388, 0.267690509557724, 0.3337114453315735, 0.06278826296329498, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-30.821266174316406, 1.308896541595459, -14.519444465637207, -6.127580165863037, 0.24221473932266235, 0.6740258932113647, 1.869471788406372, 0.3491586148738861, 1.1917835474014282, 0.5993306040763855, 0.6265777349472046, 0.10302603989839554, 1.2138034105300903, -0.19161248207092285, 0.5620793700218201, 0.1180945634841919, 0.037858784198760986, 0.05310934782028198, -0.0009237658232450485, 0.007910670712590218, -0.0007520017679780722, -0.05353874713182449, 0.0025869354140013456, -0.0016480220947414637, -0.0002452195913065225, 0.013977622613310814, 0.013408910483121872, -0.0023744283244013786, -0.0001217662138515152, 27.46428680419922, 4.312824249267578, 14.286531448364258, -6.671301364898682, -0.6515563130378723, 1.232242226600647, -1.1149705648422241, -0.025804763659834862, 0.43639594316482544, 0.16244959831237793, 0.049921851605176926, 0.04287654161453247, 0.3477840721607208, -0.14872580766677856, 0.1507263481616974, 0.03939218819141388, 0.010821044445037842, -0.0015123753109946847, 0.002227912889793515, 3.0025308660697192e-05, -0.014413260854780674, 0.06584984064102173, 0.002032868331298232, 0.0012994008138775826, 0.11134398728609085, 0.002328844740986824, -0.07180280238389969, 0.002629633294418454, -0.00013469380792230368, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.8527848720550537, 1.7621830701828003, 0.8850595951080322, 1.0430083274841309, 0.2615310251712799, 0.41074585914611816, 0.3510963022708893, 0.8623906970024109, 0.9042758345603943, 0.6796025633811951, 0.5653610825538635, 0.08823918551206589, 0.5925377607345581, 0.38977256417274475, 0.3302757441997528, 0.05689375475049019, 0.13017956912517548, 0.12258771061897278, 0.012651938945055008, 0.010504688136279583, 0.10741784423589706, 0.16273179650306702, 0.01602781005203724, 0.005752656143158674, 0.007392587140202522, 0.08461462706327438, 0.07085121423006058, 0.01807759329676628, 0.006953067611902952, 5.053585529327393, 3.3214924335479736, 2.100846529006958, 3.1004388332366943, 0.2712661027908325, 0.6394648551940918, 0.6694321632385254, 0.44756171107292175, 0.7827337980270386, 0.3605125844478607, 0.31728991866111755, 0.0799114853143692, 0.5975521802902222, 0.3222576081752777, 0.23965966701507568, 0.06490874290466309, 0.06646250933408737, 0.05663350597023964, 0.029145363718271255, 0.005032949615269899, 0.14128351211547852, 0.16537483036518097, 0.014789417386054993, 0.006750634405761957, 0.10838869214057922, 0.08516785502433777, 0.14924517273902893, 0.033847637474536896, 0.006238396745175123, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1711]}, "observation.state.tcp": {"min": [0.33454155921936035, 0.14782901108264923, 1.039560317993164, -1.2090109586715698, 1.0475283861160278, -1.587273359298706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2508586347103119, -0.29433494806289673, 0.9908667206764221, -0.23347115516662598, 0.9889026880264282, 0.11069855839014053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.418179452419281, 0.24235115945339203, 1.147851824760437, -0.4076950252056122, 1.4353797435760498, -1.2289092540740967, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4535081386566162, -0.06206553429365158, 1.2680412530899048, 1.2085658311843872, 2.1219518184661865, 1.5853718519210815, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.38856980204582214, 0.17383645474910736, 1.0877090692520142, -0.6010225415229797, 1.219526767730713, -1.3441592454910278, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.36557602882385254, -0.1952591836452484, 1.1315996646881104, 0.3796257972717285, 1.5981508493423462, 0.7933126091957092, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.016867060214281082, 0.020328951999545097, 0.019939742982387543, 0.19079093635082245, 0.0665116235613823, 0.07764409482479095, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06004936620593071, 0.06699862331151962, 0.08355410397052765, 0.39708006381988525, 0.27172067761421204, 0.40719470381736755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1711]}, "action": {"min": [0.8197910189628601, -0.7799999713897705, 2.2879372374408417e-17, 1.1577513217926025, -0.8201601505279541, -0.7699999809265137, 0.29581162333488464, 0.0, -0.19988590478897095, -0.2121005654335022, -0.3490658402442932, 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, 0.11767730116844177, -1.0503807067871094, 0.0032503672409802675, 1.1354219913482666, -1.6948493719100952, -0.7667173743247986, -0.5836502313613892, 0.0, -0.3441762328147888, -0.1433909684419632, -0.30275875329971313, 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, 0.5624915957450867, -1.1069231033325195, 0.4594568908214569, -0.026111749932169914, 3.8452227482260547e-20, -0.0858544409275055, -0.8010242581367493], "max": [1.0499999523162842, -0.5112452507019043, 0.3643355965614319, 1.6140360832214355, 5.892419025569961e-18, -0.2593234181404114, 0.5199999809265137, 1.2598775625228882, 0.0, 0.6354909539222717, 0.0, 0.9332259893417358, 1.2669098377227783, 0.21486419439315796, 0.2333832085132599, 0.09767618775367737, 1.3298547267913818, 0.20872825384140015, 0.07335978746414185, 0.29360371828079224, 0.9568536877632141, 0.1615580916404724, 0.38636109232902527, 0.36225929856300354, 0.07923009246587753, 0.7923009395599365, 0.22742325067520142, 0.22844798862934113, 0.19615773856639862, 1.2046535015106201, -0.35673269629478455, 1.006076693534851, 1.9547816514968872, -0.005855937488377094, 0.16219793260097504, 0.5151527523994446, 1.3280439376831055, 0.0, 0.6212984323501587, 0.3490658402442932, 0.641587495803833, 1.5159374475479126, 0.1432463526725769, 0.11429715901613235, 0.5552244186401367, 1.5707963705062866, 0.21970030665397644, 1.7453292608261108, 1.0505372285842896, 1.5707963705062866, 0.24132508039474487, 1.7453292608261108, 0.9213953018188477, 0.13782817125320435, 1.5707963705062866, 0.20941239595413208, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.1067674160003662, 0.5442397594451904, -1.394552066509275e-19, 0.02855418622493744, 0.08261880278587341, -0.5422810316085815], "mean": [0.937717080116272, -0.5907544493675232, 0.22667640447616577, 1.2477812767028809, -0.6627447605133057, -0.4666977524757385, 0.4425228536128998, 1.198233723640442, -0.17110808193683624, 0.5469300746917725, -0.33564043045043945, 0.7173156142234802, 1.2032960653305054, 0.1960778832435608, 0.16478055715560913, 0.09318819642066956, 1.2485605478286743, 0.17577680945396423, 0.00459755165502429, 0.23721075057983398, 0.9099379181861877, 0.08862956613302231, 0.30273979902267456, 0.34530094265937805, 0.07477518171072006, 0.7477509379386902, 0.1060064360499382, 0.09050267189741135, 0.0775616317987442, 0.84780353307724, -0.7108314633369446, 0.455345094203949, 1.470703363418579, -1.2377212047576904, -0.20675629377365112, -0.21547770500183105, 1.258440375328064, -0.24702410399913788, 0.29074740409851074, -0.05450375750660896, 0.5859434008598328, 1.2375754117965698, 0.08582307398319244, 0.10286816209554672, 0.48460668325424194, 1.5044670104980469, 0.17107053101062775, 1.4680489301681519, 0.983914852142334, 1.4198274612426758, 0.173370823264122, 1.5178008079528809, 0.8381558656692505, 0.11897403001785278, 1.5189675092697144, 0.14148832857608795, 1.3778897523880005, 1.1407016515731812, 0.5625002384185791, -1.1068443059921265, 0.4666955769062042, -0.017770199105143547, 0.012473056092858315, -0.022689679637551308, -0.6740495562553406], "std": [0.03158313035964966, 0.06921090930700302, 0.03855876252055168, 0.10051587969064713, 0.18139055371284485, 0.06663341075181961, 0.02857843041419983, 0.15757519006729126, 0.024149460718035698, 0.1744692325592041, 0.04537966102361679, 0.10762187093496323, 0.17948763072490692, 0.03529682010412216, 0.051728639751672745, 0.012905323877930641, 0.20545238256454468, 0.028317438438534737, 0.010136847384274006, 0.0690925121307373, 0.13347956538200378, 0.022039826959371567, 0.07012460380792618, 0.04885682463645935, 0.01087034959346056, 0.10870349407196045, 0.03248123079538345, 0.036955107003450394, 0.03167449310421944, 0.3167405426502228, 0.17137360572814941, 0.2668417692184448, 0.1982199251651764, 0.38601768016815186, 0.1897679716348648, 0.1940186768770218, 0.15905866026878357, 0.06199260428547859, 0.21886572241783142, 0.20390811562538147, 0.08202362805604935, 0.2122383713722229, 0.032462988048791885, 0.014368770644068718, 0.0704759806394577, 0.20352740585803986, 0.02377338707447052, 0.6034478545188904, 0.16565997898578644, 0.2877940833568573, 0.02886752225458622, 0.5125300288200378, 0.14038419723510742, 0.02602577768266201, 0.19303590059280396, 0.030972154811024666, 0.6065660119056702, 0.4979291260242462, 2.4138389562722296e-05, 2.0588908228091896e-05, 0.00943516194820404, 0.004793508443981409, 0.0053917523473501205, 0.039193786680698395, 0.07959139347076416], "count": [1711]}, "observation.state.tcp_pose": {"min": [0.33454155921936035, 0.14782901108264923, 1.039560317993164, -1.2090109586715698, 1.0475283861160278, -1.587273359298706, 0.2508586347103119, -0.29433494806289673, 0.9908667206764221, -0.23347115516662598, 0.9889026880264282, 0.11069855839014053], "max": [0.418179452419281, 0.24235115945339203, 1.147851824760437, -0.4076950252056122, 1.4353797435760498, -1.2289092540740967, 0.4535081386566162, -0.06206553429365158, 1.2680412530899048, 1.2085658311843872, 2.1219518184661865, 1.5853718519210815], "mean": [0.38856980204582214, 0.17383645474910736, 1.0877090692520142, -0.6010225415229797, 1.219526767730713, -1.3441592454910278, 0.36557602882385254, -0.1952591836452484, 1.1315996646881104, 0.3796257972717285, 1.5981508493423462, 0.7933126091957092], "std": [0.016867060214281082, 0.020328951999545097, 0.019939742982387543, 0.19079093635082245, 0.0665116235613823, 0.07764409482479095, 0.06004936620593071, 0.06699862331151962, 0.08355410397052765, 0.39708006381988525, 0.27172067761421204, 0.40719470381736755], "count": [1711]}, "action.tcp_pose": {"min": [0.3349243998527527, 0.14797072112560272, 1.0395784378051758, -1.208855390548706, 1.0457961559295654, -1.588408350944519, 0.2508726418018341, -0.29423391819000244, 0.9907932877540588, -0.2333129197359085, 0.9874693155288696, 0.11082661896944046], "max": [0.41819778084754944, 0.24186180531978607, 1.1477564573287964, -0.4075199365615845, 1.4362099170684814, -1.2289544343948364, 0.4537474811077118, -0.062462348490953445, 1.2674463987350464, 1.206749439239502, 2.122163772583008, 1.5988924503326416], "mean": [0.38857412338256836, 0.17386332154273987, 1.0876989364624023, -0.6010599732398987, 1.2195549011230469, -1.3441448211669922, 0.36551129817962646, -0.19531364738941193, 1.1314716339111328, 0.379252552986145, 1.5986489057540894, 0.7925466895103455], "std": [0.016960227862000465, 0.020308803766965866, 0.019982144236564636, 0.190818652510643, 0.06663159281015396, 0.07765467464923859, 0.06022930145263672, 0.06716432422399521, 0.08352547883987427, 0.3972926139831543, 0.27145272493362427, 0.4072003960609436], "count": [1711]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.643483343074225], "std": [7.001566362250675], "count": [1711]}, "observation.tactile": {"min": [-9.663433074951172, 0.0, -0.001220703125, -0.3254413604736328, -0.03826284408569336, -0.16848969459533691, -1.5427207946777344, -0.002899169921875, -0.00286865234375, -0.19301509857177734, -0.000705718994140625, -0.0354459285736084, -0.18051528930664062, -0.002349853515625, -0.00250244140625, -0.1006174087524414, -0.01394796371459961, -0.02549576759338379, -0.01446533203125, -0.010498046875, -0.00335693359375, -0.0003833770751953125, -0.0010662078857421875, -0.0005390644073486328, -0.00539398193359375, -0.0027923583984375, -0.0042724609375, 0.0, -0.0012941360473632812, -0.0003535747528076172, -0.073699951171875, -0.016265869140625, 0.0, -0.3906717300415039, -0.045424461364746094, -0.0016589164733886719, -6.134300231933594, -0.005279541015625, -0.00152587890625, -0.16486072540283203, -0.018367290496826172, -0.10611128807067871, -0.02439117431640625, -0.0057373046875, -0.0030517578125, -0.0001888275146484375, -0.0011463165283203125, -0.0004749298095703125, -0.0122222900390625, -0.009002685546875, -0.010498046875, -0.011822700500488281, -0.0012083053588867188, -0.0005445480346679688, -0.027276992797851562, -0.00250244140625, -0.00225830078125, -0.0001125335693359375, -0.0009264945983886719, -0.0004017353057861328], "max": [0.000926971435546875, 11.396575927734375, 13.73016357421875, 0.0006608963012695312, 0.0025963783264160156, 0.0002446174621582031, 3.5080604553222656, 6.01654052734375, 16.1549072265625, 0.0005970001220703125, 0.024649620056152344, 0.0485994815826416, 3.0771751403808594, 4.213409423828125, 6.0799560546875, 0.013785362243652344, 0.01389932632446289, 0.05655074119567871, 0.019805908203125, 0.00262451171875, 0.00799560546875, 0.001171112060546875, 0.0002560615539550781, 0.0, 0.0211944580078125, 0.009918212890625, 0.0029296875, 0.0014705657958984375, 0.0, 0.0, 5.696197509765625, 20.015960693359375, 18.89129638671875, 0.0021467208862304688, 0.032059669494628906, 0.12694978713989258, 0.8251724243164062, 7.423065185546875, 8.63641357421875, 0.0010204315185546875, 0.008617877960205078, 0.01847672462463379, 0.03237152099609375, 0.0069580078125, 0.01336669921875, 0.001247406005859375, 0.0002117156982421875, 0.0, 0.43719482421875, 0.109527587890625, 0.6002197265625, 0.0012645721435546875, 0.0064449310302734375, 0.008672714233398438, 0.011510848999023438, 0.0089874267578125, 0.01104736328125, 0.0009975433349609375, 0.00010251998901367188, 5.2928924560546875e-05], "mean": [-7.665297985076904, 8.728317260742188, 10.17796802520752, -0.24084869027137756, -0.02655443549156189, -0.1178998053073883, 1.5270439386367798, 2.2774558067321777, 8.140127182006836, -0.11752822995185852, 0.01320310402661562, 0.019398067146539688, 0.302698016166687, 0.9243510365486145, 1.4030089378356934, -0.0230295080691576, 0.0009481162996962667, 0.004299716558307409, 0.0033579959999769926, -0.004108939319849014, 0.002419574884697795, 7.544672826043097e-06, -9.949203558790032e-07, -0.00014293096319306642, 0.0034556810278445482, 0.0025935214944183826, -0.0007930289721116424, 0.000684011320117861, -0.0005816908669658005, -0.00019745704776141793, 1.4709348678588867, 3.2066240310668945, 3.3507723808288574, -0.07768788933753967, -0.0044345674104988575, 0.03213058039546013, -0.86426842212677, 1.4124419689178467, 1.8585532903671265, -0.03510717675089836, -0.0021023033186793327, -0.015766169875860214, 0.007873286493122578, 0.0002045623114099726, 0.002381155965849757, 0.0005531790666282177, -0.0004895108286291361, -0.00027017208049073815, 0.008387268520891666, 0.0004341664898674935, 0.002009076764807105, 0.0005969259655103087, -0.00045066350139677525, -0.00016631367907393724, -0.0022205873392522335, 0.001982599264010787, 0.0044212499633431435, 0.000311366020468995, -0.0002584577305242419, -0.00011111726780654863], "std": [2.966035842895508, 3.5918080806732178, 4.248105049133301, 0.10128840804100037, 0.011421998962759972, 0.044846490025520325, 0.7025774121284485, 1.0212842226028442, 3.4562690258026123, 0.04963376373052597, 0.005339118652045727, 0.009846022352576256, 0.34363266825675964, 0.5959041714668274, 0.8462600111961365, 0.014420767314732075, 0.002259068191051483, 0.006761057302355766, 0.0030554274562746286, 0.0017645241459831595, 0.0015711268642917275, 0.000131542983581312, 0.00010496244067326188, 5.508987669600174e-05, 0.0018373086350038648, 0.00139669980853796, 0.0010819463059306145, 0.00014288752572610974, 0.00012985977809876204, 4.7034543968038633e-05, 1.8743959665298462, 4.807626247406006, 4.826834201812744, 0.11042952537536621, 0.009448926895856857, 0.04137827455997467, 1.4420663118362427, 1.8885856866836548, 2.431701183319092, 0.04707944393157959, 0.004945687483996153, 0.02715343050658703, 0.00631321407854557, 0.0014471829636022449, 0.0018218023469671607, 0.00030004343716427684, 0.0002854240592569113, 8.770025306148455e-05, 0.013181080110371113, 0.003928860649466515, 0.01645508036017418, 0.0004168778832536191, 0.00034534590668044984, 0.0002506396558601409, 0.006719681434333324, 0.0012434400850906968, 0.0022660328540951014, 0.00021994844428263605, 0.00022280884149949998, 8.546233584638685e-05], "count": [1711]}, "timestamp": {"min": [0.0], "max": [57.0], "mean": [28.5], "std": [16.464102364437203], "count": [1711]}, "frame_index": {"min": [0], "max": [1710], "mean": [855.0], "std": [493.92307093311604], "count": [1711]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [1711]}, "index": {"min": [8218], "max": [9928], "mean": [9073.0], "std": [493.92307093311604], "count": [1711]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1711]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3242417275905609]], [[0.32353973388671875]], [[0.3234356641769409]]], "std": [[[0.19955497980117798]], [[0.19958657026290894]], [[0.19957561790943146]]], "count": [1711]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30479639768600464]], [[0.3068878948688507]], [[0.30525851249694824]]], "std": [[[0.1722354292869568]], [[0.1745636910200119]], [[0.1734389215707779]]], "count": [1711]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3099784255027771]], [[0.30851760506629944]], [[0.3067289888858795]]], "std": [[[0.17422060668468475]], [[0.17446556687355042]], [[0.1728443056344986]]], "count": [1711]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31827062368392944]], [[0.3175932466983795]], [[0.31763842701911926]]], "std": [[[0.19757500290870667]], [[0.19765858352184296]], [[0.19771166145801544]]], "count": [1711]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7333333492279053]], [[0.7333333492279053]], [[0.7333333492279053]]], "mean": [[[0.012804359197616577]], [[0.012804359197616577]], [[0.012804359197616577]]], "std": [[[0.07801993936300278]], [[0.07801993936300278]], [[0.07801993936300278]]], "count": [1711]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47355133295059204]], [[0.47355133295059204]], [[0.47355133295059204]]], "std": [[[0.15494519472122192]], [[0.15494519472122192]], [[0.15494519472122192]]], "count": [1711]}}}
+{"episode_index": 6, "stats": {"observation.state": {"min": [0.7534514665603638, -0.7871050238609314, 2.2170816009747796e-05, 1.1308984756469727, -0.8149609565734863, -0.769941508769989, 0.3239499032497406, 0.007674978580325842, -0.19245010614395142, -0.2100219875574112, -0.3184225559234619, 0.0026485847774893045, 0.003260961500927806, -7.310373621294275e-05, 0.0033750839065760374, 0.0008380693034268916, 0.003961578942835331, -0.0007808350492268801, 0.0034307504538446665, 0.0008629009244032204, 0.003340688766911626, 0.0001140711538027972, 0.003038249211385846, 0.0008810812723822892, 0.006169488653540611, 0.0033056086394935846, 0.00010769296932267025, 0.006542039569467306, 0.0008686654036864638, 0.27230116724967957, -1.1451267004013062, 0.0007176154176704586, 1.169897198677063, -1.659523844718933, -0.7694586515426636, -0.4040674567222595, 0.032357264310121536, -0.3178224265575409, -0.17911353707313538, -0.28623372316360474, 0.0069192941300570965, 0.017150897532701492, 8.953854558058083e-05, 0.0034991807769984007, 0.005466517526656389, 0.03382048383355141, -0.0006991456029936671, 0.0034048673696815968, 0.006549356039613485, 0.013742011040449142, -5.8875516515399795e-06, 0.010345080867409706, 0.005475386045873165, 0.010670303367078304, 0.04245137795805931, 0.0002622398897074163, 0.0032183672301471233, 0.0008611272787675261, 0.5618204474449158, -1.107150673866272, 0.4517573416233063, -0.03355582803487778, -0.004697815980762243, -0.14103035628795624, -0.7976700067520142], "max": [1.0499931573867798, -0.5054683089256287, 0.40063098073005676, 1.5698747634887695, -3.475425182841718e-05, -0.3091675937175751, 0.5199787616729736, 1.2564071416854858, -6.48633431410417e-05, 0.6125568747520447, -0.0024478554259985685, 0.9108996391296387, 1.2474440336227417, 0.1998491734266281, 0.25167760252952576, 0.08993857353925705, 1.3135608434677124, 0.18624688684940338, 0.05723743885755539, 0.260959267616272, 0.9729570746421814, 0.1338929831981659, 0.19675792753696442, 0.3599955141544342, 0.06938961893320084, 0.8003105521202087, 0.18928737938404083, 0.0456116758286953, 0.04068538174033165, 1.2960034608840942, -0.344371497631073, 0.9475194215774536, 1.8957210779190063, -0.0009561015176586807, 0.10459088534116745, 0.5191912651062012, 1.3314584493637085, -0.0037076729349792004, 0.5560192465782166, 0.3147236704826355, 0.6221830248832703, 1.4594132900238037, 0.15026722848415375, 0.110350601375103, 0.558607280254364, 1.4668567180633545, 0.2248186618089676, 1.6533617973327637, 1.1877063512802124, 1.4666773080825806, 0.26768314838409424, 1.6558408737182617, 0.9381515383720398, 0.13929514586925507, 1.4676401615142822, 0.20473016798496246, 1.6534510850906372, 1.3080860376358032, 0.5628750920295715, -1.1065753698349, 0.5441796779632568, 0.0, 0.023489080369472504, 0.0065194182097911835, -0.5350716710090637], "mean": [0.925061047077179, -0.5831407904624939, 0.24536679685115814, 1.2378331422805786, -0.6647288203239441, -0.47313860058784485, 0.46178701519966125, 1.203373670578003, -0.17665952444076538, 0.5076383948326111, -0.30843156576156616, 0.691249668598175, 1.1809009313583374, 0.17419855296611786, 0.07339441031217575, 0.08512448519468307, 1.2258905172348022, 0.15275190770626068, 0.00875909999012947, 0.23012465238571167, 0.9329440593719482, 0.061329085379838943, 0.0987878069281578, 0.34947219491004944, 0.05851016938686371, 0.7353351712226868, 0.07740296423435211, 0.030273491516709328, 0.026095079258084297, 0.878485918045044, -0.7295210957527161, 0.40076082944869995, 1.4408506155014038, -1.1306989192962646, -0.23496994376182556, -0.11596761643886566, 1.248283863067627, -0.24060362577438354, 0.26070156693458557, -0.07337512820959091, 0.5741264820098877, 1.2329870462417603, 0.07790554314851761, 0.09956321120262146, 0.46044349670410156, 1.4091261625289917, 0.16889794170856476, 1.4139692783355713, 1.0418249368667603, 1.309938907623291, 0.15682877600193024, 1.498073697090149, 0.8471476435661316, 0.10749328136444092, 1.42787766456604, 0.12149879336357117, 1.3797966241836548, 1.1035829782485962, 0.562497079372406, -1.106779932975769, 0.45902949571609497, -0.02347562462091446, 0.010888240300118923, -0.04995278641581535, -0.6730225086212158], "std": [0.057909898459911346, 0.06762698292732239, 0.044079266488552094, 0.09966421127319336, 0.17167571187019348, 0.05471902713179588, 0.02151206135749817, 0.15207789838314056, 0.023048341274261475, 0.2065371721982956, 0.03701901435852051, 0.09437662363052368, 0.16707156598567963, 0.03246455639600754, 0.04841267690062523, 0.010465065948665142, 0.20012685656547546, 0.02083357237279415, 0.01167061273008585, 0.06746751070022583, 0.12649813294410706, 0.017947282642126083, 0.039786629378795624, 0.045014891773462296, 0.008717920631170273, 0.09563028812408447, 0.02809501253068447, 0.009244086220860481, 0.00947493128478527, 0.25498783588409424, 0.1855219453573227, 0.221404567360878, 0.18736644089221954, 0.43062546849250793, 0.19337432086467743, 0.1783536821603775, 0.14933814108371735, 0.05836974084377289, 0.2156936675310135, 0.17361441254615784, 0.07119385153055191, 0.19567908346652985, 0.03458607196807861, 0.013419185765087605, 0.0784488096833229, 0.16760334372520447, 0.0261630117893219, 0.5439428091049194, 0.19105397164821625, 0.2777922451496124, 0.03587030619382858, 0.3758266866207123, 0.13858728110790253, 0.025606999173760414, 0.1539764553308487, 0.028355775400996208, 0.5752249360084534, 0.45651450753211975, 6.816851237090304e-05, 4.5904955186415464e-05, 0.010414745658636093, 0.007952284999191761, 0.005920014809817076, 0.039585210382938385, 0.08386075496673584], "count": [1496]}, "observation.state.joint_torque": {"min": [-42.65850067138672, -25.726499557495117, -20.305999755859375, -17.541000366210938, -0.3752000033855438, -2.05679988861084, 1.0664000511169434, -1.5218653678894043, -0.5348815321922302, -0.9046780467033386, -0.7058476805686951, -0.3370319902896881, -0.6735438704490662, -0.5766380429267883, -0.24903841316699982, -0.046377696096897125, -0.7407063841819763, -0.34252873063087463, -0.09629485011100769, -0.022118592634797096, -0.6725844144821167, -1.2146817445755005, -0.10293588042259216, -0.02996712550520897, -0.06421096622943878, -0.3732316195964813, -0.5977461934089661, -0.11621791869401932, -0.02996712550520897, 15.535499572753906, -20.34600067138672, 5.941999912261963, -21.954999923706055, -1.7103999853134155, -2.140000104904175, -3.101599931716919, -1.1589100360870361, -0.813784122467041, -0.5741226077079773, -0.8773388862609863, -0.12119869887828827, -0.5334621071815491, -1.3777906894683838, -0.1145576685667038, -0.038529157638549805, -0.555529773235321, -0.4682185649871826, -0.1328205019235611, -0.03068062849342823, -0.6418815851211548, -0.5670434236526489, -0.21583329141139984, -0.02354559674859047, -0.07828459143638611, -0.6322869062423706, -1.0208699703216553, -0.3005063533782959, -0.06564227491617203, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-17.278499603271484, 20.874000549316406, -3.938999891281128, 2.7809998989105225, 1.888800024986267, 1.9431999921798706, 5.43120002746582, 1.7001591920852661, 1.9892499446868896, 1.737280011177063, 1.2128649950027466, 0.27892303466796875, 0.9959239363670349, 0.4240831732749939, 0.5495447516441345, 0.1020309254527092, 0.9565858840942383, 0.9585047960281372, 0.1145576685667038, 0.11344698071479797, 0.6946521401405334, 0.28783926367759705, 0.11123716086149216, 0.022118592634797096, 0.15656918287277222, 0.41832640767097473, 0.33965033292770386, 0.0879935771226883, 0.015697065740823746, 43.2765007019043, 21.265499114990234, 23.31399917602539, 2.4059998989105225, -0.02239999920129776, 2.976799964904785, 0.46399998664855957, 2.375128984451294, 4.0829291343688965, 1.9920313358306885, 1.2141077518463135, 0.5844101905822754, 2.1424834728240967, 0.5027592778205872, 1.0559228658676147, 0.21405088901519775, 0.4135291278362274, 0.3175826668739319, 0.2556794285774231, 0.04281017929315567, 0.7781254649162292, 1.1244920492172241, 0.20587176084518433, 0.0321076326072216, 0.49125784635543823, 0.364596426486969, 0.33677196502685547, 0.3818588852882385, 0.07277730107307434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-31.13107681274414, 1.0095717906951904, -14.487488746643066, -6.449809551239014, 0.2131979763507843, 0.6744579076766968, 1.861482858657837, 0.07997182756662369, 0.24530722200870514, 0.29502418637275696, 0.13040779531002045, 0.04304568096995354, 0.1457590013742447, 0.026403145864605904, 0.11310052871704102, 0.037209488451480865, 0.218710258603096, 0.2279329001903534, 0.0007102711824700236, 0.033066242933273315, -0.007073516957461834, -0.3527652621269226, -0.0001453845907235518, 0.002419995842501521, 0.0027625751681625843, 0.021748177707195282, 0.012653899379074574, 2.8859230951638892e-05, 0.002147187013179064, 27.506439208984375, 4.5083489418029785, 14.32829475402832, -6.189393520355225, -0.6195276975631714, 1.0182067155838013, -1.134024739265442, 0.16816355288028717, 0.6346244812011719, 0.20686058700084686, 0.07382122427225113, 0.04921063408255577, 0.4873179495334625, -0.19709746539592743, 0.20022708177566528, 0.05097256973385811, 0.011995215900242329, 0.001981141045689583, 0.0027323192916810513, 0.0008527705795131624, -0.0033073867671191692, 0.10291595011949539, 0.0029953380580991507, 0.00037105788942426443, 0.13287438452243805, -0.0040578218176960945, -0.13525331020355225, 0.002141910372301936, 0.000571851443964988, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.224360942840576, 1.962737798690796, 1.0076621770858765, 1.2317159175872803, 0.255575954914093, 0.43002280592918396, 0.4609319269657135, 0.4166286885738373, 0.4607156217098236, 0.44638827443122864, 0.2491840124130249, 0.055250149220228195, 0.18325309455394745, 0.12126228958368301, 0.11787723004817963, 0.023155201226472855, 0.2250986099243164, 0.2001829296350479, 0.015934860333800316, 0.02215767651796341, 0.23833025991916656, 0.24176084995269775, 0.015309248119592667, 0.006619284860789776, 0.014098165556788445, 0.0782550498843193, 0.0756961926817894, 0.013380950316786766, 0.007020861841738224, 4.55522346496582, 3.2470319271087646, 2.157626152038574, 3.0186963081359863, 0.2753680646419525, 0.7302652597427368, 0.7464409470558167, 0.4844588041305542, 1.0219274759292603, 0.3958204984664917, 0.3244589567184448, 0.0927378460764885, 0.6626672744750977, 0.3286272883415222, 0.2967212498188019, 0.06930297613143921, 0.07589979469776154, 0.09234176576137543, 0.021045571193099022, 0.005493874661624432, 0.15794920921325684, 0.17297035455703735, 0.017618199810385704, 0.007345112040638924, 0.12419712543487549, 0.10804170370101929, 0.20871925354003906, 0.02776019461452961, 0.005004792474210262, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1496]}, "observation.state.tcp": {"min": [0.34066468477249146, 0.15462139248847961, 1.0261366367340088, -1.2087944746017456, 1.0407092571258545, -1.599560260772705, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2556212842464447, -0.33833587169647217, 0.9969858527183533, -0.3352409303188324, 0.9162737727165222, 0.11834893375635147, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.41766566038131714, 0.2466880977153778, 1.1528918743133545, -0.4022804796695709, 1.3641748428344727, -1.2289913892745972, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4283846318721771, -0.07313970476388931, 1.290206789970398, 1.208571434020996, 2.0910754203796387, 1.6991069316864014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.387817919254303, 0.17452675104141235, 1.090621829032898, -0.6013409495353699, 1.181873083114624, -1.3540000915527344, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3653067648410797, -0.20152327418327332, 1.1283516883850098, 0.40826237201690674, 1.5680421590805054, 0.8629426956176758, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.01839841529726982, 0.017956487834453583, 0.022243473678827286, 0.19332262873649597, 0.052960556000471115, 0.08183726668357849, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.056174322962760925, 0.06978950649499893, 0.08622319996356964, 0.4732661843299866, 0.2917904257774353, 0.4530661404132843, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1496]}, "action": {"min": [0.7534021735191345, -0.7871023416519165, 2.4531442250008695e-05, 1.1306474208831787, -0.8150068521499634, -0.7699706554412842, 0.32395869493484497, 0.0, -0.19470888376235962, -0.2150534838438034, -0.3490658402442932, 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, 0.2722857594490051, -1.1457957029342651, 0.0034938768949359655, 1.1698795557022095, -1.659505009651184, -0.7667405605316162, -0.40405672788619995, 0.0, -0.3454226851463318, -0.1850002110004425, -0.29192501306533813, 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, 0.5624915957450867, -1.1069231033325195, 0.4509807527065277, -0.03419726714491844, -0.005898058880120516, -0.14198148250579834, -0.797669529914856], "max": [1.0499918460845947, -0.505454421043396, 0.40077298879623413, 1.5699642896652222, -2.5029385142261162e-05, -0.30882957577705383, 0.5199907422065735, 1.2610280513763428, 0.0, 0.6178789138793945, 0.0, 0.9139267802238464, 1.2550818920135498, 0.2018250823020935, 0.25737693905830383, 0.09272904694080353, 1.3241643905639648, 0.1855267882347107, 0.06296597421169281, 0.2612271308898926, 0.9731557965278625, 0.13260406255722046, 0.20261114835739136, 0.36436840891838074, 0.08107087761163712, 0.8107088208198547, 0.19348394870758057, 0.05019949749112129, 0.04279804229736328, 1.2960418462753296, -0.34438395500183105, 0.9480289816856384, 1.8962401151657104, -0.005207760259509087, 0.10501793026924133, 0.5154397487640381, 1.3370561599731445, 0.0, 0.557158887386322, 0.3490658402442932, 0.6281650066375732, 1.5300989151000977, 0.12886518239974976, 0.11590012162923813, 0.5616669058799744, 1.5707963705062866, 0.22052043676376343, 1.7453292608261108, 1.189314603805542, 1.5707963705062866, 0.273155152797699, 1.7453292608261108, 0.9416728019714355, 0.1559770703315735, 1.5707963705062866, 0.207577645778656, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106767177581787, 0.5442397594451904, 1.4101958096514543e-18, 0.024592576548457146, 0.006885239388793707, -0.5351228713989258], "mean": [0.9250738024711609, -0.5832075476646423, 0.24535708129405975, 1.2379846572875977, -0.6647548079490662, -0.4731146991252899, 0.46180474758148193, 1.2043452262878418, -0.17128986120224, 0.5125482678413391, -0.34086307883262634, 0.6945692896842957, 1.1857316493988037, 0.17564719915390015, 0.07730264961719513, 0.08897571265697479, 1.2310696840286255, 0.15391358733177185, 0.0055874306708574295, 0.2332330197095871, 0.9341959357261658, 0.05771619454026222, 0.10155177861452103, 0.35111910104751587, 0.0741020143032074, 0.7410205602645874, 0.07813729345798492, 0.03340137377381325, 0.028487052768468857, 0.879090428352356, -0.7304758429527283, 0.4001648426055908, 1.4413155317306519, -1.130311131477356, -0.2352811098098755, -0.11601927131414413, 1.2503787279129028, -0.24000349640846252, 0.26272037625312805, -0.0725439190864563, 0.5769811868667603, 1.2443571090698242, 0.07555470615625381, 0.10209047049283981, 0.4637870490550995, 1.4849013090133667, 0.16951191425323486, 1.4899438619613647, 1.0430935621261597, 1.3734794855117798, 0.15761396288871765, 1.5728168487548828, 0.8486334085464478, 0.12402785569429398, 1.5175273418426514, 0.12099815905094147, 1.4410351514816284, 1.1684108972549438, 0.5625801682472229, -1.1067825555801392, 0.4590685963630676, -0.023524044081568718, 0.010925536043941975, -0.0500156544148922, -0.6730776429176331], "std": [0.05793720483779907, 0.0676979199051857, 0.04429009184241295, 0.09996394068002701, 0.17174629867076874, 0.054894719272851944, 0.021451864391565323, 0.16997234523296356, 0.024973753839731216, 0.20765385031700134, 0.048402220010757446, 0.11151069402694702, 0.18356072902679443, 0.03361747786402702, 0.048846933990716934, 0.012571286410093307, 0.21174676716327667, 0.024576060473918915, 0.01240906398743391, 0.06840786337852478, 0.13980136811733246, 0.019888173788785934, 0.04167596995830536, 0.05057968199253082, 0.010920303873717785, 0.10920305550098419, 0.030543699860572815, 0.011237353086471558, 0.009978875517845154, 0.25570178031921387, 0.1862892210483551, 0.221166729927063, 0.18784677982330322, 0.43083375692367554, 0.19338710606098175, 0.17827211320400238, 0.16937191784381866, 0.06653667241334915, 0.2156994491815567, 0.1783064901828766, 0.08455374836921692, 0.21705402433872223, 0.03157171234488487, 0.01512536033987999, 0.08504097163677216, 0.21401968598365784, 0.029684539884328842, 0.576334536075592, 0.20081238448619843, 0.3211361765861511, 0.03781453147530556, 0.41233253479003906, 0.147162064909935, 0.029712794348597527, 0.19814005494117737, 0.029401153326034546, 0.6041610836982727, 0.48541975021362305, 1.45882595461444e-05, 2.1553425540332682e-05, 0.01084828283637762, 0.007972369901835918, 0.005959587171673775, 0.03960104286670685, 0.08393968641757965], "count": [1496]}, "observation.state.tcp_pose": {"min": [0.34066468477249146, 0.15462139248847961, 1.0261366367340088, -1.2087944746017456, 1.0407092571258545, -1.599560260772705, 0.2556212842464447, -0.33833587169647217, 0.9969858527183533, -0.3352409303188324, 0.9162737727165222, 0.11834893375635147], "max": [0.41766566038131714, 0.2466880977153778, 1.1528918743133545, -0.4022804796695709, 1.3641748428344727, -1.2289913892745972, 0.4283846318721771, -0.07313970476388931, 1.290206789970398, 1.208571434020996, 2.0910754203796387, 1.6991069316864014], "mean": [0.387817919254303, 0.17452675104141235, 1.090621829032898, -0.6013409495353699, 1.181873083114624, -1.3540000915527344, 0.3653067648410797, -0.20152327418327332, 1.1283516883850098, 0.40826237201690674, 1.5680421590805054, 0.8629426956176758], "std": [0.01839841529726982, 0.017956487834453583, 0.022243473678827286, 0.19332262873649597, 0.052960556000471115, 0.08183726668357849, 0.056174322962760925, 0.06978950649499893, 0.08622319996356964, 0.4732661843299866, 0.2917904257774353, 0.4530661404132843], "count": [1496]}, "action.tcp_pose": {"min": [0.34047970175743103, 0.15460443496704102, 1.0260831117630005, -1.2088415622711182, 1.0386344194412231, -1.6011781692504883, 0.2554292678833008, -0.3386974334716797, 0.9970445036888123, -0.33546921610832214, 0.9138148427009583, 0.1182914450764656], "max": [0.4182034730911255, 0.24657680094242096, 1.152885913848877, -0.40326595306396484, 1.365110993385315, -1.2289690971374512, 0.42890509963035583, -0.07316707074642181, 1.2901194095611572, 1.2074048519134521, 2.091764450073242, 1.7046654224395752], "mean": [0.3878740668296814, 0.17454148828983307, 1.0905722379684448, -0.6013915538787842, 1.1819355487823486, -1.354077696800232, 0.36527907848358154, -0.20173019170761108, 1.1285279989242554, 0.4081963002681732, 1.5679457187652588, 0.8623082041740417], "std": [0.018522951751947403, 0.017916711047291756, 0.022326074540615082, 0.19324645400047302, 0.053018953651189804, 0.08195018768310547, 0.056402165442705154, 0.0701746791601181, 0.08640863001346588, 0.4734250009059906, 0.2912861704826355, 0.45335230231285095], "count": [1496]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.639705882352942], "std": [6.858228277088812], "count": [1496]}, "observation.tactile": {"min": [-8.405841827392578, -0.011627197265625, 0.0, -0.22136592864990234, -0.02839374542236328, -0.17104220390319824, -0.9707775115966797, -0.00103759765625, -0.00164794921875, -0.18231678009033203, -0.017832279205322266, -0.026803970336914062, -0.02925872802734375, -0.005401611328125, -0.007568359375, -0.3100709915161133, -0.021862030029296875, -0.00023221969604492188, -0.028533935546875, -0.009490966796875, -0.0089111328125, -0.0001850128173828125, -0.0005526542663574219, -0.0005042552947998047, -0.001255035400390625, -0.001495361328125, -0.00299072265625, -3.4332275390625e-05, -0.0013852119445800781, -0.00029277801513671875, -2.608386993408203, -0.01824951171875, -0.0050048828125, -0.45592594146728516, -0.036742210388183594, -0.06708264350891113, -7.67694091796875, -0.005584716796875, 0.0, -0.22511959075927734, -0.030008316040039062, -0.14908480644226074, -0.024435043334960938, -0.004913330078125, -0.00634765625, -0.00026988983154296875, -0.0013337135314941406, -0.0005016326904296875, -0.0192413330078125, -0.0057373046875, -0.01617431640625, -0.010233879089355469, -0.0012722015380859375, -0.000675201416015625, -0.023786544799804688, -0.00592041015625, -0.006103515625, -0.0001068115234375, -0.0007510185241699219, -0.00034427642822265625], "max": [0.4222831726074219, 9.7711181640625, 8.73712158203125, 0.0006427764892578125, 0.0028753280639648438, 0.011597871780395508, 5.24406623840332, 7.5477294921875, 13.56915283203125, 0.001056671142578125, 0.017507076263427734, 0.08998680114746094, 6.237342834472656, 8.670684814453125, 19.77581787109375, 0.0009784698486328125, 0.018787384033203125, 0.10868239402770996, 0.007724761962890625, 0.002593994140625, 0.00238037109375, 0.000606536865234375, 0.00012922286987304688, 0.0, 0.031368255615234375, 0.0158843994140625, 0.00531005859375, 0.001613616943359375, 1.811981201171875e-05, 3.528594970703125e-05, 7.196300506591797, 24.17266845703125, 20.93896484375, 0.0033254623413085938, 0.035309791564941406, 0.13366198539733887, 0.88116455078125, 12.094482421875, 10.39532470703125, 0.005200386047363281, 0.0059719085693359375, 0.020531892776489258, 0.015588760375976562, 0.0132293701171875, 0.01934814453125, 0.00148773193359375, 0.0005321502685546875, 0.00016260147094726562, 0.522979736328125, 0.11083984375, 0.54229736328125, 0.0009613037109375, 0.005171775817871094, 0.006900787353515625, 0.010683059692382812, 0.002288818359375, 0.0050048828125, 0.0009822845458984375, 0.00017499923706054688, 1.5497207641601562e-05], "mean": [-3.948591470718384, 5.520998477935791, 4.051429271697998, -0.09477178752422333, -0.01618880406022072, -0.08329219371080399, 1.2764325141906738, 1.257067322731018, 3.6868107318878174, -0.057395219802856445, -0.0020802507642656565, 0.020704424008727074, 2.0484228134155273, 1.6748255491256714, 5.079331874847412, -0.08262806385755539, -0.007655015680938959, 0.03706088662147522, -0.01470605842769146, -0.002916183089837432, -0.0037797733675688505, 0.0001848470710683614, -0.0001842838537413627, -0.0003017145791091025, 0.0025491102132946253, 0.003989489749073982, 0.0012447336921468377, 0.0006550760590471327, -0.0005533057847060263, -0.0001585723366588354, 1.466486930847168, 4.160362720489502, 4.224165916442871, -0.09949103742837906, -0.004764434415847063, 0.030042298138141632, -1.5612249374389648, 1.793990135192871, 2.536738634109497, -0.04977267235517502, -0.0030249860137701035, -0.02988562546670437, 0.001338458969257772, 0.001524563180282712, -0.0011028350563719869, 0.0006199373747222126, -0.0005082095740363002, -0.00019034807337448, 0.0036771309096366167, 0.0027861162088811398, -0.003481002990156412, 0.0002124207530869171, -0.00037708511808887124, -0.00019088268163613975, -0.0010705848690122366, -0.0011593415401875973, -0.0002706191153265536, 0.0002747079124674201, -0.00013209122698754072, -0.0001198439858853817], "std": [2.006409168243408, 2.4410274028778076, 1.862357258796692, 0.044291239231824875, 0.007234653923660517, 0.04196711629629135, 0.7654975056648254, 0.916611909866333, 1.873790979385376, 0.02829277701675892, 0.004518299363553524, 0.013739539310336113, 1.0077425241470337, 1.2500269412994385, 2.824537992477417, 0.04553009197115898, 0.005040115211158991, 0.018190810456871986, 0.005941227078437805, 0.0018934361869469285, 0.001588556100614369, 0.00012147106463089585, 8.234062988776714e-05, 6.809742626501247e-05, 0.0017760457703843713, 0.0014939691172912717, 0.0011900820536538959, 0.0001577601651661098, 0.00014266339712776244, 4.6370099880732596e-05, 1.9211041927337646, 5.63692569732666, 5.441342830657959, 0.12765835225582123, 0.009894668124616146, 0.03997960686683655, 2.10628080368042, 2.3487792015075684, 3.206228733062744, 0.0651581808924675, 0.00436864048242569, 0.04055974632501602, 0.006048035807907581, 0.0016708570765331388, 0.0019290350610390306, 0.0003616073227021843, 0.0003463800821918994, 0.00012118949962314218, 0.0210739579051733, 0.004096430726349354, 0.020062249153852463, 0.0004467492108233273, 0.000463526084786281, 0.0003825777384918183, 0.005293236579746008, 0.0012816785601899028, 0.0017499717650935054, 0.00017313944408670068, 0.00017310777911916375, 6.139525066828355e-05], "count": [1496]}, "timestamp": {"min": [0.0], "max": [49.833333333333336], "mean": [24.916666666666664], "std": [14.395263495716607], "count": [1496]}, "frame_index": {"min": [0], "max": [1495], "mean": [747.5], "std": [431.8579048714982], "count": [1496]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [1496]}, "index": {"min": [9929], "max": [11424], "mean": [10676.5], "std": [431.8579048714982], "count": [1496]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1496]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31998080015182495]], [[0.3192918300628662]], [[0.31917667388916016]]], "std": [[[0.19552238285541534]], [[0.19553808867931366]], [[0.19552098214626312]]], "count": [1496]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.303966224193573]], [[0.30645012855529785]], [[0.30497458577156067]]], "std": [[[0.17165054380893707]], [[0.1741955727338791]], [[0.17309461534023285]]], "count": [1496]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30910828709602356]], [[0.30770808458328247]], [[0.3060120642185211]]], "std": [[[0.17393457889556885]], [[0.17425130307674408]], [[0.1726418286561966]]], "count": [1496]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31430524587631226]], [[0.31362634897232056]], [[0.31367236375808716]]], "std": [[[0.1939353346824646]], [[0.19397029280662537]], [[0.19402340054512024]]], "count": [1496]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7921568751335144]], [[0.7921568751335144]], [[0.7921568751335144]]], "mean": [[[0.011884603649377823]], [[0.011884603649377823]], [[0.011884603649377823]]], "std": [[[0.07427443563938141]], [[0.07427443563938141]], [[0.07427443563938141]]], "count": [1496]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.95686274766922]], [[0.95686274766922]], [[0.95686274766922]]], "mean": [[[0.47415807843208313]], [[0.47415807843208313]], [[0.47415807843208313]]], "std": [[[0.15336626768112183]], [[0.15336626768112183]], [[0.15336626768112183]]], "count": [1496]}}}
+{"episode_index": 7, "stats": {"observation.state": {"min": [0.7442964911460876, -0.8302007913589478, 0.00024771393509581685, 1.0578263998031616, -0.7873361706733704, -0.7695785164833069, 0.36670395731925964, 0.0073609622195363045, -0.196165069937706, -0.21544499695301056, -0.31697186827659607, 0.002644684398546815, 0.0031186791602522135, -0.00018840118718799204, 0.003425431903451681, 0.00089482736075297, 0.00389632536098361, -0.0007251488277688622, 0.003510881680995226, 0.0008589101489633322, 0.003305118065327406, 0.0001251103385584429, 0.00303505826741457, 0.0008824115502648056, 0.006188754923641682, 0.003230297239497304, 7.457540050381795e-05, 0.006510128732770681, 0.0008074730867519975, 0.24296604096889496, -1.0760724544525146, 0.0008814397151581943, 1.2061951160430908, -1.67818284034729, -0.769145131111145, -0.36794373393058777, 0.032379310578107834, -0.32253342866897583, -0.12862984836101532, -0.28762662410736084, 0.006942695938050747, 0.013965982012450695, 2.3304150090552866e-05, 0.0034913807176053524, 0.005365416873246431, 0.02577810548245907, -0.0002676371077541262, 0.003415858605876565, 0.007222028914839029, 0.013870554976165295, -0.0001287899649469182, 0.010378409177064896, 0.005427939351648092, 0.010534369386732578, 0.049096204340457916, 0.00029388596885837615, 0.005881488788872957, 0.000846050854306668, 0.5617246031761169, -1.107150673866272, 0.4493604898452759, -0.02972087822854519, -9.58738019107841e-05, -0.1155279278755188, -0.8261445164680481], "max": [1.0498523712158203, -0.541074812412262, 0.4005142152309418, 1.5694348812103271, -0.0002735998423304409, -0.3257424831390381, 0.5453535318374634, 1.236869215965271, 0.0002534898812882602, 0.5197969079017639, -0.00244577182456851, 0.8915660977363586, 1.2007189989089966, 0.18366429209709167, 0.3678221106529236, 0.09137482196092606, 1.304269552230835, 0.1929221898317337, 0.018774813041090965, 0.2215730994939804, 1.04638671875, 0.1255854070186615, 0.15095017850399017, 0.3691522181034088, 0.06205987185239792, 0.766350507736206, 0.17519114911556244, 0.02998715452849865, 0.026980064809322357, 1.305247187614441, -0.36981987953186035, 0.8488167524337769, 1.9035612344741821, -0.0011309513356536627, 0.1508084088563919, 0.5189955830574036, 1.330315113067627, -0.0037336910609155893, 0.6027707457542419, 0.31456229090690613, 0.6221915483474731, 1.4371979236602783, 0.12644869089126587, 0.11017048358917236, 0.5356730222702026, 1.4652355909347534, 0.2324761599302292, 1.6533564329147339, 1.1786402463912964, 1.4667823314666748, 0.2690085768699646, 1.656472086906433, 0.9381825923919678, 0.1383703649044037, 1.4686341285705566, 0.20557942986488342, 1.6533905267715454, 1.3081303834915161, 0.5628750920295715, -1.1065753698349, 0.5441796779632568, 0.0, 0.02051699347794056, 0.02895388752222061, -0.53459233045578], "mean": [0.9123312830924988, -0.6005953550338745, 0.2440020740032196, 1.2506673336029053, -0.6481359601020813, -0.4619424641132355, 0.49567079544067383, 1.1993443965911865, -0.1598798632621765, 0.4228820502758026, -0.3077976405620575, 0.738462507724762, 1.1240086555480957, 0.16784876585006714, 0.17036119103431702, 0.08507876098155975, 1.2274764776229858, 0.14677277207374573, 0.004993054084479809, 0.19484658539295197, 0.9925968050956726, 0.060038067400455475, 0.05573045462369919, 0.3537310063838959, 0.058793339878320694, 0.7264868021011353, 0.06893570721149445, 0.02418702095746994, 0.02026885561645031, 0.8890269994735718, -0.7464747428894043, 0.3724203407764435, 1.4482821226119995, -1.061793565750122, -0.23742718994617462, -0.11429132521152496, 1.2369656562805176, -0.24517926573753357, 0.24592654407024384, -0.07622980326414108, 0.5766260027885437, 1.2142345905303955, 0.07184749841690063, 0.10032914578914642, 0.4906095266342163, 1.4036391973495483, 0.1714622527360916, 1.3990198373794556, 1.0549719333648682, 1.28990638256073, 0.16464883089065552, 1.5015673637390137, 0.8408576846122742, 0.10589949786663055, 1.426190972328186, 0.12241517752408981, 1.3743667602539062, 1.0981669425964355, 0.5624967217445374, -1.106781005859375, 0.457893431186676, -0.02122781053185463, 0.010470452718436718, -0.04045911133289337, -0.6833728551864624], "std": [0.06051104515790939, 0.05919995903968811, 0.04399743676185608, 0.08902989327907562, 0.1537100076675415, 0.04574372619390488, 0.023998325690627098, 0.14839120209217072, 0.020541630685329437, 0.17971909046173096, 0.03733983263373375, 0.09436111897230148, 0.15541602671146393, 0.029666904360055923, 0.07287765294313431, 0.01065047923475504, 0.20468299090862274, 0.019236013293266296, 0.001593529712408781, 0.05531412363052368, 0.14062370359897614, 0.01494845375418663, 0.028480198234319687, 0.04544976353645325, 0.007601603865623474, 0.09474153816699982, 0.021188130602240562, 0.006642957217991352, 0.007538117002695799, 0.26452305912971497, 0.18541745841503143, 0.20771342515945435, 0.19072577357292175, 0.42447561025619507, 0.18756937980651855, 0.15833482146263123, 0.15440119802951813, 0.055616285651922226, 0.2361152619123459, 0.18165838718414307, 0.071628637611866, 0.19788169860839844, 0.029767414554953575, 0.01352616772055626, 0.06342709064483643, 0.17881464958190918, 0.026452897116541862, 0.5486465692520142, 0.17645591497421265, 0.29710450768470764, 0.03590834513306618, 0.3590874671936035, 0.13297437131404877, 0.02388499304652214, 0.15404829382896423, 0.02774639055132866, 0.5616065263748169, 0.4434812366962433, 7.708572957199067e-05, 4.887818795396015e-05, 0.01096592377871275, 0.007733948063105345, 0.0039400323294103146, 0.04421183094382286, 0.0887848436832428], "count": [1467]}, "observation.state.joint_torque": {"min": [-42.80400085449219, -17.56049919128418, -22.663000106811523, -15.067999839782715, -0.4880000054836273, -1.9088000059127808, 0.7856000065803528, -1.3537598848342896, -0.5234197974205017, -0.739400327205658, -0.7766810059547424, -0.3619358241558075, -0.6418815851211548, -0.5699217319488525, -0.25899994373321533, -0.04281017929315567, -0.6006245613098145, -0.3358124792575836, -0.03652563691139221, -0.020691584795713425, -0.7330307364463806, -1.4017772674560547, -0.11621791869401932, -0.027113113552331924, -0.09015922993421555, -0.5056376457214355, -0.477813184261322, -0.07139100879430771, -0.03068062849342823, 14.184000015258789, -20.808000564575195, 7.986000061035156, -19.64900016784668, -1.840000033378601, -1.732800006866455, -3.932800054550171, -1.8504353761672974, -0.8672721982002258, -0.5803360342979431, -0.7915932536125183, -0.12783971428871155, -0.6399626731872559, -1.4200071096420288, -0.10127562284469604, -0.02354559674859047, -0.5027592778205872, -0.4192858636379242, -0.24405762553215027, -0.03068062849342823, -0.7167198061943054, -0.6121381521224976, -0.10957689583301544, -0.021405089646577835, -0.07432638853788376, -0.7301522493362427, -1.2070059776306152, -0.2390768826007843, -0.05636673793196678, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-9.746999740600586, 25.81049919128418, -0.5120000243186951, 5.705999851226807, 1.714400053024292, 2.545599937438965, 4.9552001953125, 0.7959546446800232, 1.1283453702926636, 1.4241223335266113, 0.9320171475410461, 0.2656410038471222, 0.5660839080810547, 0.3482855558395386, 0.4432883560657501, 0.10559843480587006, 0.5728001594543457, 0.6428410410881042, 0.06973075866699219, 0.06849627941846848, 0.6725844144821167, 0.13816285133361816, 0.061429474502801895, 0.019264578819274902, 0.07300698012113571, 0.3837856948375702, 0.46054282784461975, 0.09131408482789993, 0.019264578819274902, 53.00699996948242, 26.76300048828125, 26.007999420166016, 6.790999889373779, 0.00559999980032444, 3.05679988861084, 0.2896000146865845, 2.410787582397461, 3.835865020751953, 1.8043853044509888, 1.4701017141342163, 0.614294707775116, 2.1405646800994873, 0.6543546319007874, 1.0559228658676147, 0.21405088901519775, 0.5286648273468018, 0.37323158979415894, 0.6508203744888306, 0.01783757284283638, 0.7253549695014954, 1.017991542816162, 0.7570767998695374, 0.019264578819274902, 0.49125784635543823, 0.442313015460968, 0.2916771173477173, 0.5047178864479065, 0.10274443030357361, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-30.752695083618164, 1.3884958028793335, -14.487282752990723, -6.384307861328125, 0.19028517603874207, 0.6332256197929382, 1.8643642663955688, -0.04724462702870369, 0.05086816847324371, 0.2445327341556549, 0.08283248543739319, 0.04705190286040306, 0.05585304647684097, -0.010091659612953663, 0.11183127760887146, 0.03493732586503029, 0.05165886506438255, 0.06667790561914444, 0.0003723407571669668, 0.02407476305961609, 0.09558803588151932, -0.20761707425117493, -0.006421477068215609, 0.0014197115087881684, 0.0004904675297439098, 0.010459881275892258, 0.006975247524678707, -0.0001425986847607419, 0.0003156529273837805, 27.50238800048828, 4.619278430938721, 14.589749336242676, -5.986030101776123, -0.5919469594955444, 1.1010664701461792, -1.2040282487869263, 0.07286716252565384, 0.5497239232063293, 0.20461535453796387, 0.09677480906248093, 0.050598759204149246, 0.3829292058944702, -0.1549467146396637, 0.18736973404884338, 0.04828856140375137, 0.0020471024326980114, 0.0024539113510400057, 0.00219783466309309, 0.001535954070277512, -0.010630014352500439, 0.14275473356246948, 0.0034065309446305037, -0.000678485375829041, 0.1785900741815567, 0.0021170952823013067, -0.13286693394184113, -0.0033250378910452127, -0.0006439522840082645, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.2206268310546875, 2.0770976543426514, 0.9869014620780945, 1.187271237373352, 0.2630803883075714, 0.41626402735710144, 0.4069434702396393, 0.22182314097881317, 0.15638421475887299, 0.35086777806282043, 0.21784813702106476, 0.05520949512720108, 0.11454949527978897, 0.11271130293607712, 0.11818898469209671, 0.023387379944324493, 0.14855070412158966, 0.1264353096485138, 0.003585739992558956, 0.016999728977680206, 0.19412046670913696, 0.20988266170024872, 0.013924848288297653, 0.00577933294698596, 0.00759156234562397, 0.07323459535837173, 0.07358027249574661, 0.010957121849060059, 0.0072656976990401745, 4.875944137573242, 3.471759557723999, 1.817376732826233, 2.6710739135742188, 0.2664071321487427, 0.6701949834823608, 0.7197538614273071, 0.5067530274391174, 0.943236231803894, 0.36939528584480286, 0.3440503776073456, 0.09605738520622253, 0.6414905190467834, 0.33080917596817017, 0.30340543389320374, 0.07487480342388153, 0.09581093490123749, 0.06992325186729431, 0.027867913246154785, 0.00598949333652854, 0.1974055916070938, 0.2214115411043167, 0.02470620535314083, 0.007511014584451914, 0.1612919718027115, 0.1025690883398056, 0.24689021706581116, 0.02924160659313202, 0.0058180601336061954, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1467]}, "observation.state.tcp": {"min": [0.32966646552085876, 0.15540972352027893, 1.0254722833633423, -1.2087281942367554, 1.0040258169174194, -1.5681394338607788, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2387494593858719, -0.32439738512039185, 0.980714738368988, -0.22902174293994904, 0.9659832119941711, 0.22101980447769165, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4294048845767975, 0.2596634328365326, 1.1420507431030273, -0.38865453004837036, 1.3428940773010254, -1.2291381359100342, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4298578202724457, -0.07689027488231659, 1.28843355178833, 1.2086156606674194, 2.0976784229278564, 1.623945713043213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3829532861709595, 0.1790252923965454, 1.0872454643249512, -0.5956730246543884, 1.174178123474121, -1.3763337135314941, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3617827892303467, -0.2013755589723587, 1.12491774559021, 0.4448072016239166, 1.610203742980957, 0.903485894203186, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.01802561804652214, 0.017745045945048332, 0.022312279790639877, 0.17754966020584106, 0.053976450115442276, 0.06618939340114594, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0590931735932827, 0.06759020686149597, 0.08754096180200577, 0.4574654996395111, 0.2744007706642151, 0.4103058874607086, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1467]}, "action": {"min": [0.7441933751106262, -0.830519437789917, 0.001250211033038795, 1.0567179918289185, -0.7873276472091675, -0.7681145071983337, 0.3667229115962982, 0.0, -0.19662624597549438, -0.21410436928272247, -0.3490658402442932, 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, 0.24281369149684906, -1.0770148038864136, 1.574398916061473e-18, 1.2061395645141602, -1.678200602531433, -0.7699999809265137, -0.3680114448070526, 0.0, -0.34494322538375854, -0.13351596891880035, -0.2863643765449524, 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, 0.5624915957450867, -1.1069231033325195, 0.44903331995010376, -0.030777597799897194, -4.898811741722796e-19, -0.11589614301919937, -0.8264069557189941], "max": [1.0497572422027588, -0.5410240888595581, 0.4006531238555908, 1.567517638206482, -0.0011743138311430812, -0.32572469115257263, 0.5455110669136047, 1.2429078817367554, 0.0, 0.527498722076416, 0.0, 0.8984240293502808, 1.2103041410446167, 0.18169158697128296, 0.37467050552368164, 0.09318923950195312, 1.3122442960739136, 0.1923336386680603, 0.025473779067397118, 0.22558148205280304, 1.0488247871398926, 0.12876909971237183, 0.15970337390899658, 0.37164533138275146, 0.07741806656122208, 0.7741806507110596, 0.17459678649902344, 0.03664294630289078, 0.03140823915600777, 1.3054088354110718, -0.3697908818721771, 0.8493973016738892, 1.9037951231002808, 5.255803765549017e-19, 0.15081371366977692, 0.5199999809265137, 1.3291945457458496, 0.0, 0.6073967218399048, 0.3490658402442932, 0.6284527778625488, 1.4912540912628174, 0.12474267929792404, 0.1154751405119896, 0.5408432483673096, 1.5707963705062866, 0.23250478506088257, 1.7453292608261108, 1.183849573135376, 1.5707963705062866, 0.2685531973838806, 1.7453292608261108, 0.9428229331970215, 0.15109708905220032, 1.5707963705062866, 0.20941239595413208, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106767177581787, 0.5442397594451904, 3.4366502746416523e-18, 0.020866479724645615, 0.02956591360270977, -0.5334494113922119], "mean": [0.9123810529708862, -0.6006355881690979, 0.24398697912693024, 1.2507058382034302, -0.6482297778129578, -0.4619791805744171, 0.49572446942329407, 1.1951483488082886, -0.160667285323143, 0.42697733640670776, -0.3406819701194763, 0.7415135502815247, 1.1253243684768677, 0.1670328825712204, 0.1739846020936966, 0.08912424743175507, 1.2291593551635742, 0.14805713295936584, 0.0007203375571407378, 0.19857758283615112, 0.996592104434967, 0.05710873380303383, 0.05402626097202301, 0.3563687205314636, 0.07309803366661072, 0.7309803366661072, 0.06918177753686905, 0.02589532919228077, 0.021729344502091408, 0.8898953199386597, -0.7472700476646423, 0.3716195523738861, 1.448372483253479, -1.0606266260147095, -0.23777244985103607, -0.11414015293121338, 1.2381700277328491, -0.24571378529071808, 0.24824558198451996, -0.07228843122720718, 0.579768717288971, 1.2210050821304321, 0.06819019466638565, 0.10315469652414322, 0.4955231845378876, 1.4787240028381348, 0.1732463836669922, 1.4726605415344238, 1.0560308694839478, 1.3370404243469238, 0.16527576744556427, 1.5748953819274902, 0.8419530391693115, 0.12090121954679489, 1.514975666999817, 0.12302030622959137, 1.4369767904281616, 1.163455843925476, 0.5625, -1.106782078742981, 0.45793089270591736, -0.021276487037539482, 0.010512442328035831, -0.040487416088581085, -0.6834327578544617], "std": [0.060537196695804596, 0.05932522937655449, 0.043997444212436676, 0.08926621079444885, 0.15359658002853394, 0.04581987112760544, 0.023804131895303726, 0.1648329347372055, 0.023612789809703827, 0.18218177556991577, 0.04888438060879707, 0.11265188455581665, 0.17200858891010284, 0.03119892254471779, 0.0743899717926979, 0.0127671267837286, 0.21595755219459534, 0.023002425208687782, 0.0033060431014746428, 0.056947261095047, 0.15497781336307526, 0.01639905385673046, 0.02951834164559841, 0.05161349102854729, 0.010845014825463295, 0.10845015943050385, 0.02420935034751892, 0.008099460043013096, 0.00794515572488308, 0.2653956413269043, 0.18593855202198029, 0.20770050585269928, 0.19088847935199738, 0.424629807472229, 0.1875883936882019, 0.15841087698936462, 0.17387227714061737, 0.06469257175922394, 0.23539581894874573, 0.19336949288845062, 0.08482103794813156, 0.21659761667251587, 0.02595936506986618, 0.015217587351799011, 0.07370323687791824, 0.22563371062278748, 0.02872965857386589, 0.5828732848167419, 0.18871888518333435, 0.3320004642009735, 0.03732819855213165, 0.39764678478240967, 0.1421806663274765, 0.02871292270720005, 0.1987558901309967, 0.02980833314359188, 0.5932849049568176, 0.4739963710308075, 2.4832495910231955e-05, 2.1461120923049748e-05, 0.011447465047240257, 0.007756875362247229, 0.003976265899837017, 0.044268898665905, 0.0888659879565239], "count": [1467]}, "observation.state.tcp_pose": {"min": [0.32966646552085876, 0.15540972352027893, 1.0254722833633423, -1.2087281942367554, 1.0040258169174194, -1.5681394338607788, 0.2387494593858719, -0.32439738512039185, 0.980714738368988, -0.22902174293994904, 0.9659832119941711, 0.22101980447769165], "max": [0.4294048845767975, 0.2596634328365326, 1.1420507431030273, -0.38865453004837036, 1.3428940773010254, -1.2291381359100342, 0.4298578202724457, -0.07689027488231659, 1.28843355178833, 1.2086156606674194, 2.0976784229278564, 1.623945713043213], "mean": [0.3829532861709595, 0.1790252923965454, 1.0872454643249512, -0.5956730246543884, 1.174178123474121, -1.3763337135314941, 0.3617827892303467, -0.2013755589723587, 1.12491774559021, 0.4448072016239166, 1.610203742980957, 0.903485894203186], "std": [0.01802561804652214, 0.017745045945048332, 0.022312279790639877, 0.17754966020584106, 0.053976450115442276, 0.06618939340114594, 0.0590931735932827, 0.06759020686149597, 0.08754096180200577, 0.4574654996395111, 0.2744007706642151, 0.4103058874607086], "count": [1467]}, "action.tcp_pose": {"min": [0.3294689357280731, 0.15553435683250427, 1.0251460075378418, -1.2081103324890137, 0.9916244745254517, -1.5689549446105957, 0.23903627693653107, -0.32503247261047363, 0.9806421399116516, -0.22942717373371124, 0.9631569981575012, 0.22105172276496887], "max": [0.4299745559692383, 0.25993117690086365, 1.1419562101364136, -0.3883315920829773, 1.3429893255233765, -1.2298082113265991, 0.4302654266357422, -0.07697010785341263, 1.2883769273757935, 1.20885169506073, 2.098123788833618, 1.6329957246780396], "mean": [0.3829498887062073, 0.17906059324741364, 1.0872459411621094, -0.5955796241760254, 1.17410409450531, -1.376301884651184, 0.3617931008338928, -0.20160430669784546, 1.12510085105896, 0.44527173042297363, 1.610018014907837, 0.9031196236610413], "std": [0.018183737993240356, 0.017801757901906967, 0.022414429113268852, 0.17720651626586914, 0.05415866896510124, 0.06611638516187668, 0.059245914220809937, 0.06781736761331558, 0.08762305974960327, 0.45780712366104126, 0.2740192711353302, 0.4102720320224762], "count": [1467]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.613496932515337], "std": [6.965288009531017], "count": [1467]}, "observation.tactile": {"min": [-7.457130432128906, -0.015289306640625, -0.00018310546875, -0.2220010757446289, -0.020255088806152344, -0.1693248748779297, -0.6605415344238281, -0.0020751953125, -0.00836181640625, -0.2198324203491211, -0.018224716186523438, -0.01509547233581543, -0.0377655029296875, -0.00341796875, -0.0074462890625, -0.28827381134033203, -0.01856231689453125, -0.0001690387725830078, -0.02263641357421875, -0.008148193359375, -0.00396728515625, -0.000423431396484375, -0.000705718994140625, -0.0005018711090087891, -0.0012874603271484375, -0.001373291015625, -0.0030517578125, 0.0, -0.00118255615234375, -0.0003026723861694336, -1.3995704650878906, -0.028839111328125, -0.0125732421875, -0.40235424041748047, -0.023722171783447266, -0.03698158264160156, -6.469043731689453, -0.010101318359375, -0.00091552734375, -0.23139095306396484, -0.029306411743164062, -0.12346124649047852, -0.030492782592773438, -0.0054931640625, -0.0040283203125, -0.0002460479736328125, -0.0011630058288574219, -0.00041866302490234375, -0.017425537109375, -0.022491455078125, -0.0140380859375, -0.0002956390380859375, -0.0011768341064453125, -0.0005905628204345703, -0.02285003662109375, -0.00250244140625, -0.00360107421875, -0.00019550323486328125, -0.0009503364562988281, -0.00039768218994140625], "max": [0.7069320678710938, 8.005462646484375, 8.80010986328125, 0.0005893707275390625, 0.0030412673950195312, 0.019029617309570312, 5.916118621826172, 6.837066650390625, 13.56951904296875, 0.00042724609375, 0.013086318969726562, 0.10921025276184082, 7.9637603759765625, 8.04583740234375, 17.04180908203125, 0.00151824951171875, 0.01615142822265625, 0.13295817375183105, 0.01544952392578125, 0.0051116943359375, 0.00567626953125, 0.0003833770751953125, 0.00025463104248046875, 0.0, 0.04006385803222656, 0.0106201171875, 0.00555419921875, 0.0015888214111328125, 6.580352783203125e-05, 0.00021696090698242188, 11.08675765991211, 23.047271728515625, 17.32879638671875, 0.0018014907836914062, 0.06662511825561523, 0.17188072204589844, 0.8117179870605469, 9.672210693359375, 9.42633056640625, 0.001720428466796875, 0.0043811798095703125, 0.019269466400146484, 0.011896133422851562, 0.0166778564453125, 0.0380859375, 0.00112152099609375, 0.0006694793701171875, 0.00010633468627929688, 0.0214996337890625, 0.017059326171875, 0.06201171875, 0.0013103485107421875, 0.0007162094116210938, 0.0001964569091796875, 0.01000213623046875, 0.0137786865234375, 0.0069580078125, 0.00112152099609375, 0.00022840499877929688, 7.510185241699219e-05], "mean": [-3.1395788192749023, 4.704915523529053, 3.573612689971924, -0.08708478510379791, -0.012787227518856525, -0.06786030530929565, 1.4689322710037231, 1.3191735744476318, 3.427201747894287, -0.05874008685350418, -0.0004758821742143482, 0.02452150546014309, 1.5851850509643555, 0.8654795289039612, 3.074082374572754, -0.057050902396440506, -0.004663911648094654, 0.030691878870129585, -0.004920110572129488, -0.001925686257891357, 0.0003810224588960409, -6.60707155475393e-05, 1.777364195731934e-05, -0.00017959818069357425, 0.005997782107442617, 0.0036273689474910498, 0.0012186644598841667, 0.0007638001698069274, -0.0006133416318334639, -0.0001606586156412959, 1.6225658655166626, 3.1262524127960205, 3.0592293739318848, -0.07354135811328888, -0.0001547794818179682, 0.03133343160152435, -1.1765085458755493, 1.6676112413406372, 2.1040914058685303, -0.044377610087394714, -0.003681119065731764, -0.023492388427257538, -0.004369544796645641, 0.002225692616775632, 0.0014900150708854198, 0.0003944480267819017, -0.00036460100091062486, -0.0001781255705282092, 0.005496986676007509, 0.0024989466182887554, -0.004455732647329569, 0.0006006145849823952, -0.0005003039259463549, -0.00023900032101664692, -0.0018726835260167718, 0.0014153332449495792, 0.0017023690743371844, 0.00032931927125900984, -0.00021576475410256535, -7.562362588942051e-05], "std": [1.6077313423156738, 2.3071532249450684, 1.7736966609954834, 0.04404349997639656, 0.007303251419216394, 0.03535455837845802, 0.8624064326286316, 0.8134127855300903, 1.8355916738510132, 0.031189536675810814, 0.0038156728260219097, 0.015259305015206337, 0.9427528977394104, 0.8269736170768738, 1.9503440856933594, 0.03489209711551666, 0.0033818718511611223, 0.017496852204203606, 0.004532815422862768, 0.0018012430518865585, 0.0014365180395543575, 0.00010805320198414847, 7.660841220058501e-05, 5.8102814364247024e-05, 0.0031424066983163357, 0.0014337388565763831, 0.0012173234717920423, 0.00014182481390889734, 0.00011297873425064608, 5.711554331355728e-05, 2.293306827545166, 4.681550979614258, 4.2309980392456055, 0.10173352807760239, 0.007949570193886757, 0.04299915209412575, 1.7406110763549805, 2.2824833393096924, 2.836416006088257, 0.06340636312961578, 0.004578584339469671, 0.03455300256609917, 0.00823301076889038, 0.0024478379637002945, 0.0017764236545190215, 0.0002810680598486215, 0.00025291001657024026, 6.759964162483811e-05, 0.005904042162001133, 0.0023745500948280096, 0.00400210777297616, 0.00030261147185228765, 0.0003123230126220733, 0.00010502557415748015, 0.004913924261927605, 0.0016068060649558902, 0.0016632042825222015, 0.0002068964095087722, 0.00018340210954193026, 6.243924144655466e-05], "count": [1467]}, "timestamp": {"min": [0.0], "max": [48.86666666666667], "mean": [24.43333333333333], "std": [14.116210802032088], "count": [1467]}, "frame_index": {"min": [0], "max": [1466], "mean": [733.0], "std": [423.48632406096266], "count": [1467]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [1467]}, "index": {"min": [11425], "max": [12891], "mean": [12158.0], "std": [423.48632406096266], "count": [1467]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1467]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.32255077362060547]], [[0.3218277096748352]], [[0.3217669427394867]]], "std": [[[0.19769839942455292]], [[0.19771462678909302]], [[0.19771967828273773]]], "count": [1467]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3033043444156647]], [[0.3057169020175934]], [[0.3041750192642212]]], "std": [[[0.17109502851963043]], [[0.17359313368797302]], [[0.1725926399230957]]], "count": [1467]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3087642788887024]], [[0.30790215730667114]], [[0.30570513010025024]]], "std": [[[0.17342697083950043]], [[0.17420706152915955]], [[0.1723068207502365]]], "count": [1467]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3187985420227051]], [[0.31808358430862427]], [[0.3181889057159424]]], "std": [[[0.1961679756641388]], [[0.19619344174861908]], [[0.19627338647842407]]], "count": [1467]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7490196228027344]], [[0.7490196228027344]], [[0.7490196228027344]]], "mean": [[[0.009889197535812855]], [[0.009889197535812855]], [[0.009889197535812855]]], "std": [[[0.06721522659063339]], [[0.06721522659063339]], [[0.06721522659063339]]], "count": [1467]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.9607843160629272]], [[0.9607843160629272]], [[0.9607843160629272]]], "mean": [[[0.4746015965938568]], [[0.4746015965938568]], [[0.4746015965938568]]], "std": [[[0.15274381637573242]], [[0.15274381637573242]], [[0.15274381637573242]]], "count": [1467]}}}
+{"episode_index": 8, "stats": {"observation.state": {"min": [0.772432267665863, -0.8392055630683899, 1.7856495105661452e-05, 1.095935583114624, -0.8720155954360962, -0.7699984312057495, 0.3237852156162262, 0.006256302818655968, -0.20172788202762604, -0.14657223224639893, -0.3167305886745453, 0.0024266282562166452, 0.0031059228349477053, -0.00019698729738593102, 0.0034204679541289806, 0.0008531456696800888, 0.003845054656267166, -0.0007062596268951893, 0.0034736525267362595, 0.0008966010645963252, 0.003305118065327406, -0.001195197575725615, 0.003024421166628599, 0.0008837418281473219, 0.006303281988948584, 0.0032646411564201117, -0.01380776148289442, 0.006542393937706947, 0.0008407297427766025, 0.35899239778518677, -1.073664665222168, 0.0014577610418200493, 1.2333347797393799, -1.805252194404602, -0.768619954586029, -0.3806631863117218, 0.009684287011623383, -0.31720829010009766, -0.12454117834568024, -0.295762836933136, 0.006932058837264776, 0.0064635383896529675, 8.684092608746141e-05, 0.0034853529650717974, 0.0015533104306086898, 0.011353876441717148, -0.001213569543324411, 0.0033913939259946346, 0.0027270507998764515, 0.005994006991386414, -0.00014866015408188105, 0.004502948373556137, 0.0028747105970978737, 0.010449811816215515, 0.01482163742184639, 0.00011775026359828189, 0.006825689692050219, 0.0008380693034268916, 0.5618204474449158, -1.107150673866272, 0.44130709767341614, -0.028666265308856964, -0.005656554363667965, -0.13211409747600555, -0.8537561893463135], "max": [1.0500248670578003, -0.518093466758728, 0.4048241078853607, 1.5699845552444458, -2.3129554392653517e-05, -0.33222201466560364, 0.520011305809021, 1.2604621648788452, 0.0013610398164018989, 0.404498428106308, -0.002430051565170288, 0.939923107624054, 1.1561113595962524, 0.20026957988739014, 0.24381621181964874, 0.08884066343307495, 1.2854703664779663, 0.1872330904006958, 0.0300708319991827, 0.15641386806964874, 1.1430516242980957, 0.11572133004665375, 0.16288547217845917, 0.3785257041454315, 0.06917983293533325, 0.8239480257034302, 0.19463229179382324, 0.20562732219696045, 0.17953704297542572, 1.2541383504867554, -0.42007383704185486, 0.8063403367996216, 1.8984745740890503, -0.001996332313865423, 0.10567329823970795, 0.5179741382598877, 1.3239216804504395, -0.0004202549171168357, 0.5462098717689514, 0.3143482506275177, 0.642194926738739, 1.4490822553634644, 0.10835014283657074, 0.10698863863945007, 0.5449334979057312, 1.4667986631393433, 0.20013223588466644, 1.6533650159835815, 1.1879078149795532, 1.4668066501617432, 0.2409721314907074, 1.6537436246871948, 0.9427409768104553, 0.14080218970775604, 1.4667431116104126, 0.19309097528457642, 1.6534138917922974, 1.308091640472412, 0.5628750920295715, -1.1066712141036987, 0.5439879298210144, 9.58738019107841e-05, 0.007286408916115761, 0.020900487899780273, -0.5591359734535217], "mean": [0.9271207451820374, -0.6045106649398804, 0.22462432086467743, 1.2207956314086914, -0.7066988945007324, -0.45101332664489746, 0.4474417567253113, 1.2213327884674072, -0.15127168595790863, 0.2906184196472168, -0.30745041370391846, 0.8166482448577881, 1.1066927909851074, 0.1682664006948471, 0.18100880086421967, 0.08505085110664368, 1.2059003114700317, 0.14840547740459442, 0.004086670000106096, 0.14260780811309814, 1.0748450756072998, 0.050025880336761475, 0.009005466476082802, 0.36329615116119385, 0.056209854781627655, 0.7475718855857849, 0.06275289505720139, 0.1682986468076706, 0.14517922699451447, 0.8715277910232544, -0.7461984157562256, 0.3915560245513916, 1.4458231925964355, -1.071626901626587, -0.24698887765407562, -0.10411820560693741, 1.2365686893463135, -0.2428354024887085, 0.20559950172901154, -0.05211253836750984, 0.5812878012657166, 1.2417068481445312, 0.053423166275024414, 0.09695363789796829, 0.47004982829093933, 1.4091572761535645, 0.1591799259185791, 1.3184611797332764, 1.058464527130127, 1.2781449556350708, 0.1530832052230835, 1.491563081741333, 0.8408114910125732, 0.10748472809791565, 1.4282112121582031, 0.1179969385266304, 1.3174086809158325, 1.0538661479949951, 0.5624988079071045, -1.1067818403244019, 0.4504617154598236, -0.021342124789953232, -0.00039318352355621755, -0.030629601329565048, -0.6956349015235901], "std": [0.05300464108586311, 0.08298569172620773, 0.047663092613220215, 0.13462881743907928, 0.18891307711601257, 0.05094045773148537, 0.031710632145404816, 0.15320996940135956, 0.02069021761417389, 0.13286510109901428, 0.038015153259038925, 0.10201222449541092, 0.1506011188030243, 0.03242538496851921, 0.063751220703125, 0.010847615078091621, 0.20278725028038025, 0.023420291021466255, 0.0026027928106486797, 0.032680217176675797, 0.17139048874378204, 0.01796950399875641, 0.025703709572553635, 0.050010647624731064, 0.01099479477852583, 0.10602821409702301, 0.03225036337971687, 0.05443643778562546, 0.04764436557888985, 0.22050926089286804, 0.16159720718860626, 0.13355126976966858, 0.1724606603384018, 0.48277372121810913, 0.2011081874370575, 0.17109359800815582, 0.1533965766429901, 0.06181415542960167, 0.19469906389713287, 0.20117875933647156, 0.07421126961708069, 0.18986158072948456, 0.022663284093141556, 0.012379311956465244, 0.0662437155842781, 0.16996830701828003, 0.02655421569943428, 0.5693972110748291, 0.19800858199596405, 0.30951401591300964, 0.03023717924952507, 0.37143057584762573, 0.15820802748203278, 0.025306912139058113, 0.15663893520832062, 0.030246898531913757, 0.585454523563385, 0.4591611921787262, 6.94121335982345e-05, 4.306422488298267e-05, 0.011970129795372486, 0.006076541263610125, 0.0034981260541826487, 0.04616393521428108, 0.09108816087245941], "count": [1494]}, "observation.state.joint_torque": {"min": [-45.65999984741211, -8.937000274658203, -25.589000701904297, -10.170000076293945, -0.3944000005722046, -1.156000018119812, 0.795199990272522, -1.2442363500595093, -0.5145050883293152, -0.8847950100898743, -0.8785815238952637, -0.35861530900001526, -0.39913713932037354, -0.5766380429267883, -0.38351914286613464, -0.04281017929315567, -0.686976432800293, -0.4116101562976837, -0.09463459998369217, -0.02996712550520897, -0.6332463622093201, -0.8702341318130493, -0.09961536526679993, -0.028540121391415596, -0.08180300146341324, -0.3981776833534241, -0.3079880177974701, -0.11123716086149216, -0.027826614677906036, 16.33799934387207, -2.0999999046325684, 10.175999641418457, -11.187000274658203, -1.806399941444397, -0.8960000276565552, -3.040800094604492, -1.3855979442596436, -0.9513250589370728, -0.5492687821388245, -0.787865161895752, -0.1145576685667038, -0.5267458558082581, -1.1225731372833252, -0.09463459998369217, -0.020691584795713425, -0.793476939201355, -0.2916771471500397, -0.1494230479001999, -0.046377696096897125, -0.5881516337394714, -0.49796193838119507, -0.5246409177780151, -0.02354559674859047, -0.08048360049724579, -0.9373965859413147, -1.0007212162017822, -0.220814049243927, -0.05922074615955353, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-18.983999252319336, 20.187000274658203, -7.381999969482422, 1.2640000581741333, 1.7879999876022339, 1.6200000047683716, 3.8327999114990234, 0.6596872210502625, 0.5921902656555176, 1.1420316696166992, 0.9904235601425171, 0.10459613054990768, 0.6524356603622437, 0.6524356603622437, 0.24073712527751923, 0.05708024278283119, 0.6610708832740784, 0.7694903016090393, 0.0531281977891922, 0.019978083670139313, 0.6869763731956482, 0.15831159055233002, 0.04648716747760773, 0.022118592634797096, 0.1376577466726303, 0.43847519159317017, 0.4260021448135376, 0.09463459998369217, 0.025686107575893402, 44.81850051879883, 14.17650032043457, 23.96500015258789, 1.031000018119812, 0.07840000092983246, 2.88319993019104, 0.42239999771118164, 1.7829384803771973, 3.739076614379883, 1.5906428098678589, 1.4614028930664062, 0.49309608340263367, 2.13480806350708, 0.3645963966846466, 1.0559228658676147, 0.21405088901519775, 0.41256964206695557, 0.3770694434642792, 0.09961536526679993, 0.0827663391828537, 0.6639493107795715, 1.0199105739593506, 0.28556403517723083, 0.04352368041872978, 0.49169760942459106, 0.34156927466392517, 0.4260021150112152, 0.26066020131111145, 0.05850724130868912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-30.88315773010254, 1.560593605041504, -14.331404685974121, -5.859957218170166, 0.1287095546722412, 0.8108840584754944, 1.7415294647216797, -0.02597516030073166, -0.003421641420572996, 0.17288190126419067, 0.02248651720583439, 0.0008601326262578368, 0.04448394104838371, 0.04708259552717209, 0.001539124408736825, 0.01413680613040924, -0.011565621010959148, 0.2009255290031433, -0.0011735135922208428, -6.781663978472352e-05, 0.019750017672777176, -0.07465660572052002, -0.0016958179185166955, 0.00034481429611332715, 0.003713581943884492, 0.0340995155274868, 0.04306087642908096, 0.001733610057272017, 0.0004818795423489064, 27.92403221130371, 4.722785949707031, 14.85589599609375, -6.111358642578125, -0.6701711416244507, 1.0614012479782104, -1.190289855003357, 0.0674799233675003, 0.517533004283905, 0.19136318564414978, 0.09402091801166534, 0.05557859688997269, 0.2718900442123413, -0.16741113364696503, 0.16031254827976227, 0.0370725654065609, -0.0009036238770931959, -0.006922411732375622, 0.00015113614790607244, 0.0005525590968318284, -0.011092285625636578, 0.08680380880832672, 0.0014068834716454148, 0.0006901024025864899, 0.14420746266841888, 0.0052179633639752865, -0.09801119565963745, -0.003210491267964244, -0.00026648931088857353, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.305330753326416, 1.7213884592056274, 0.9386066198348999, 0.8831785917282104, 0.3297221064567566, 0.4379553496837616, 0.3159315586090088, 0.1811830699443817, 0.08781721442937851, 0.25953492522239685, 0.1449291855096817, 0.026110442355275154, 0.11141599714756012, 0.11590835452079773, 0.04512326791882515, 0.01213070098310709, 0.23504523932933807, 0.17712925374507904, 0.006559140980243683, 0.0043508377857506275, 0.14109399914741516, 0.15419939160346985, 0.007923205383121967, 0.005758538376539946, 0.014646540395915508, 0.08863317966461182, 0.07650037109851837, 0.018488716334104538, 0.0074282181449234486, 4.443995475769043, 3.1720237731933594, 1.4630776643753052, 1.9045714139938354, 0.24956849217414856, 0.761430561542511, 0.7059221267700195, 0.418833464384079, 0.9185891151428223, 0.36826902627944946, 0.3481041491031647, 0.0954890176653862, 0.5483732223510742, 0.25862863659858704, 0.30023643374443054, 0.06523626297712326, 0.08096668869256973, 0.06559324264526367, 0.01933017000555992, 0.005923212505877018, 0.13561563193798065, 0.217820942401886, 0.023423563688993454, 0.0073627750389277935, 0.15269730985164642, 0.09165249019861221, 0.1963215172290802, 0.022664355114102364, 0.005741337314248085, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1494]}, "observation.state.tcp": {"min": [0.3411810100078583, 0.15599790215492249, 1.043351411819458, -1.2086713314056396, 1.1034427881240845, -1.5544326305389404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2500261664390564, -0.29345715045928955, 0.9905345439910889, -0.3064593970775604, 1.068682312965393, 0.18623651564121246, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.41607221961021423, 0.25188949704170227, 1.1391147375106812, -0.3548111915588379, 1.407056212425232, -1.2292927503585815, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4171679615974426, -0.0800924003124237, 1.271009922027588, 1.2084277868270874, 2.071927309036255, 1.697501540184021, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3878157138824463, 0.18040935695171356, 1.0859378576278687, -0.5435197353363037, 1.2361441850662231, -1.3147814273834229, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3596351444721222, -0.20531180500984192, 1.125260353088379, 0.44770869612693787, 1.571627140045166, 0.8933907151222229, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.02079295925796032, 0.01897501014173031, 0.01765175350010395, 0.21887385845184326, 0.05009923502802849, 0.07907629758119583, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.055225979536771774, 0.06324316561222076, 0.07968106120824814, 0.4755103886127472, 0.2634581923484802, 0.42167454957962036, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1494]}, "action": {"min": [0.7723711133003235, -0.8394646644592285, 1.994929350395368e-17, 1.0959022045135498, -0.8719855546951294, -0.7699999809265137, 0.3237343430519104, 0.0, -0.198064386844635, -0.1488238126039505, -0.3490658402442932, 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, -0.014466352760791779, 0.0, 0.0, 0.35886111855506897, -1.0738316774368286, 0.005340117961168289, 1.2333394289016724, -1.8052353858947754, -0.7649807929992676, -0.3806785047054291, 0.0, -0.33784860372543335, -0.12766768038272858, -0.29806095361709595, 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, 0.5625874400138855, -1.1069231033325195, 0.44090521335601807, -0.028945036232471466, -0.006158778443932533, -0.13281750679016113, -0.854051947593689], "max": [1.0499999523162842, -0.5180572271347046, 0.4048524796962738, 1.5700000524520874, 4.915249061265143e-18, -0.33173033595085144, 0.5199999809265137, 1.2666845321655273, 0.0, 0.4121241569519043, 0.0, 0.9465141892433167, 1.1671086549758911, 0.20441383123397827, 0.24949753284454346, 0.09284420311450958, 1.2890909910202026, 0.191278874874115, 0.034810226410627365, 0.15829698741436005, 1.149458885192871, 0.11755197495222092, 0.16843865811824799, 0.383351594209671, 0.083160899579525, 0.8316089510917664, 0.19703125953674316, 0.21328075230121613, 0.1829272210597992, 1.2542401552200317, -0.4200582802295685, 0.8072601556777954, 1.8986130952835083, -0.007581609766930342, 0.10597284883260727, 0.5119897127151489, 1.3292903900146484, 0.0, 0.5496807098388672, 0.3490658402442932, 0.6448471546173096, 1.514353632926941, 0.09636395424604416, 0.11077354848384857, 0.5471706390380859, 1.5707963705062866, 0.20086616277694702, 1.7453292608261108, 1.1897459030151367, 1.5707963705062866, 0.24122923612594604, 1.7453292608261108, 0.9458427429199219, 0.1472429633140564, 1.5707963705062866, 0.19760650396347046, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106767177581787, 0.5442397594451904, 3.747428441427572e-18, 0.008263999596238136, 0.021171675994992256, -0.5581344366073608], "mean": [0.9272087812423706, -0.6045619249343872, 0.22458750009536743, 1.2209175825119019, -0.7066760063171387, -0.45101720094680786, 0.44744423031806946, 1.2187480926513672, -0.15114916861057281, 0.2961106598377228, -0.34053468704223633, 0.8203589916229248, 1.1082565784454346, 0.1708812415599823, 0.18314264714717865, 0.08939852565526962, 1.2071051597595215, 0.15191107988357544, 0.0005007407162338495, 0.1442718654870987, 1.0767221450805664, 0.05318950489163399, 0.006084495689719915, 0.3649574816226959, 0.07500236481428146, 0.7500241994857788, 0.06552419066429138, 0.17255325615406036, 0.14789420366287231, 0.8716114163398743, -0.7467814087867737, 0.3914540112018585, 1.4461400508880615, -1.0702266693115234, -0.24729253351688385, -0.1040676087141037, 1.236930012702942, -0.24103447794914246, 0.2074889987707138, -0.046907275915145874, 0.5832042098045349, 1.2462902069091797, 0.05145411193370819, 0.10171670466661453, 0.4733356535434723, 1.4838531017303467, 0.15940366685390472, 1.3822890520095825, 1.060126781463623, 1.3476847410202026, 0.15315665304660797, 1.5671030282974243, 0.8420099020004272, 0.12054159492254257, 1.5179005861282349, 0.1168866753578186, 1.3805842399597168, 1.115375280380249, 0.562580943107605, -1.1067826747894287, 0.45052263140678406, -0.02138713374733925, -0.00040802606963552535, -0.03063003346323967, -0.6956901550292969], "std": [0.05297863483428955, 0.08301263302564621, 0.047825299203395844, 0.13480037450790405, 0.18901926279067993, 0.05104905739426613, 0.03177636116743088, 0.17140567302703857, 0.02371084690093994, 0.13439452648162842, 0.04995080456137657, 0.12173650413751602, 0.1685289591550827, 0.035228218883275986, 0.06569650024175644, 0.013072939589619637, 0.21448539197444916, 0.027428805828094482, 0.0032704914920032024, 0.03307252749800682, 0.18392165005207062, 0.01885988563299179, 0.02656458131968975, 0.055668145418167114, 0.011864664033055305, 0.11864662170410156, 0.03251498565077782, 0.0560549795627594, 0.04805121198296547, 0.22135451436042786, 0.16199848055839539, 0.13372623920440674, 0.17274466156959534, 0.48312562704086304, 0.20112718641757965, 0.17110636830329895, 0.17502816021442413, 0.06831269711256027, 0.19464904069900513, 0.2125358134508133, 0.08738355338573456, 0.21027353405952454, 0.020714880898594856, 0.015295658260583878, 0.07522363215684891, 0.21924184262752533, 0.029156001284718513, 0.6065004467964172, 0.2071734219789505, 0.35873332619667053, 0.03196311369538307, 0.40908530354499817, 0.16576537489891052, 0.029377732425928116, 0.20400786399841309, 0.03149271011352539, 0.620999813079834, 0.492830365896225, 1.4103454304859042e-05, 2.223871706519276e-05, 0.012503464706242085, 0.006112045608460903, 0.003547064494341612, 0.04621795564889908, 0.09117315709590912], "count": [1494]}, "observation.state.tcp_pose": {"min": [0.3411810100078583, 0.15599790215492249, 1.043351411819458, -1.2086713314056396, 1.1034427881240845, -1.5544326305389404, 0.2500261664390564, -0.29345715045928955, 0.9905345439910889, -0.3064593970775604, 1.068682312965393, 0.18623651564121246], "max": [0.41607221961021423, 0.25188949704170227, 1.1391147375106812, -0.3548111915588379, 1.407056212425232, -1.2292927503585815, 0.4171679615974426, -0.0800924003124237, 1.271009922027588, 1.2084277868270874, 2.071927309036255, 1.697501540184021], "mean": [0.3878157138824463, 0.18040935695171356, 1.0859378576278687, -0.5435197353363037, 1.2361441850662231, -1.3147814273834229, 0.3596351444721222, -0.20531180500984192, 1.125260353088379, 0.44770869612693787, 1.571627140045166, 0.8933907151222229], "std": [0.02079295925796032, 0.01897501014173031, 0.01765175350010395, 0.21887385845184326, 0.05009923502802849, 0.07907629758119583, 0.055225979536771774, 0.06324316561222076, 0.07968106120824814, 0.4755103886127472, 0.2634581923484802, 0.42167454957962036], "count": [1494]}, "action.tcp_pose": {"min": [0.3413124680519104, 0.15592794120311737, 1.0430020093917847, -1.208855390548706, 1.1054470539093018, -1.5551069974899292, 0.25071981549263, -0.29362690448760986, 0.9905528426170349, -0.3067705035209656, 1.0647814273834229, 0.18590906262397766], "max": [0.4167296290397644, 0.2523544430732727, 1.1392605304718018, -0.3550965189933777, 1.4079056978225708, -1.2289544343948364, 0.4221482276916504, -0.07998335361480713, 1.2720332145690918, 1.2039481401443481, 2.07226824760437, 1.701042652130127], "mean": [0.387904554605484, 0.1803942620754242, 1.0859004259109497, -0.5435711145401001, 1.236245036125183, -1.3148770332336426, 0.3596397042274475, -0.2054927945137024, 1.1252591609954834, 0.44895046949386597, 1.571703314781189, 0.8934991955757141], "std": [0.02087377943098545, 0.018939724192023277, 0.017706522718071938, 0.2187972515821457, 0.04997928813099861, 0.07908447831869125, 0.0553908534348011, 0.06346350163221359, 0.0798119530081749, 0.476070374250412, 0.2631591856479645, 0.4216518700122833], "count": [1494]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.921686746987952], "std": [7.093458973384807], "count": [1494]}, "observation.tactile": {"min": [-3.870861053466797, -0.01123046875, 0.0, -0.1223917007446289, -0.010844230651855469, -0.09371376037597656, -3.113119125366211, -0.0009765625, -0.00457763671875, -0.13457202911376953, -0.012837409973144531, -0.06656885147094727, -0.18391799926757812, -0.014312744140625, -0.01568603515625, -0.02213573455810547, -0.004695415496826172, -0.005713701248168945, -0.025493621826171875, -0.01055908203125, -0.00439453125, -0.0005121231079101562, -0.00041675567626953125, -0.0003924369812011719, -0.0004520416259765625, -0.002349853515625, -0.00384521484375, -6.103515625e-05, -0.0009913444519042969, -0.0003285408020019531, -0.2930412292480469, -0.01934814453125, -0.00213623046875, -0.3467111587524414, -0.02714824676513672, -0.007526874542236328, -6.848487854003906, -0.01007080078125, 0.0, -0.15659618377685547, -0.013867378234863281, -0.1312727928161621, -0.0350799560546875, -0.004730224609375, -0.005859375, -0.00044155120849609375, -0.001270294189453125, -0.0005130767822265625, -0.0592041015625, -0.011138916015625, -0.01043701171875, -0.0016736984252929688, -0.0010614395141601562, -0.0019237995147705078, -0.02452850341796875, -0.0062255859375, -0.00469970703125, -0.0001220703125, -0.000888824462890625, -0.0003974437713623047], "max": [2.906482696533203, 3.1619873046875, 4.4295654296875, 0.000957489013671875, 0.0030260086059570312, 0.05933189392089844, 4.611490249633789, 3.79217529296875, 8.01495361328125, 0.0018720626831054688, 0.01593303680419922, 0.08559179306030273, 0.8817558288574219, 1.65704345703125, 1.50146484375, 0.0032510757446289062, 0.002575397491455078, 0.01681971549987793, 0.0091094970703125, 0.001556396484375, 0.005126953125, 0.000316619873046875, 0.0002741813659667969, 0.0, 0.0517730712890625, 0.0142364501953125, 0.0042724609375, 0.0014514923095703125, 0.0, 0.00043702125549316406, 8.180591583251953, 14.516082763671875, 15.71954345703125, 0.0021505355834960938, 0.012227058410644531, 0.1654047966003418, 0.6397933959960938, 6.47296142578125, 7.3953857421875, 0.0016040802001953125, 0.011164665222167969, 0.01529550552368164, 0.02703857421875, 0.0189208984375, 0.0460205078125, 0.001491546630859375, 0.0006699562072753906, 0.00046181678771972656, 0.21014404296875, 0.11090087890625, 0.1795654296875, 0.00116729736328125, 0.0040454864501953125, 0.0031363964080810547, 0.008747100830078125, 0.024688720703125, 0.00689697265625, 0.0009059906005859375, 0.0002040863037109375, 0.0], "mean": [-1.1192333698272705, 0.9433827996253967, 0.828341007232666, -0.01749338023364544, -0.0003160670748911798, -0.025327607989311218, 0.49636441469192505, 0.37688130140304565, 1.4668753147125244, -0.027080943807959557, 0.0007862623315304518, 0.007289116736501455, 0.022915108129382133, 0.07522087544202805, 0.09506260603666306, -0.0019655246287584305, -0.00019723903096746653, 0.0009010036592371762, -0.0010604169219732285, -0.005046410486102104, 0.0002440180687699467, -0.00015950681699905545, 6.0893446061527357e-05, -0.0001514767063781619, 0.0109544163569808, 0.002971501089632511, -0.00044203505967743695, 0.0007481849752366543, -0.0006479502189904451, -0.00014379178173840046, 1.240484356880188, 2.593783140182495, 3.110577344894409, -0.06944718956947327, -0.0011729117250069976, 0.0251156035810709, -1.0146101713180542, 1.3222756385803223, 1.5273363590240479, -0.029522202908992767, -0.0017382294172421098, -0.020640728995203972, 0.00620004627853632, 0.0002715635346248746, -0.0006536563159897923, 0.0006103834602981806, -0.0005442661931738257, -0.00024932206724770367, 0.010955257341265678, -0.002136444905772805, 0.0017603372689336538, 0.0005279615288600326, -0.0004102759121451527, -0.00022337243717629462, -0.0038245213218033314, -0.0013276167446747422, 0.0004580905078910291, 0.0003337374946568161, -0.00010272808867739514, -0.00014547730097547174], "std": [0.677818238735199, 0.5157783031463623, 0.47955095767974854, 0.012393882498145103, 0.0013798768632113934, 0.015895262360572815, 0.5529497861862183, 0.3906543254852295, 0.8358914256095886, 0.013868322595953941, 0.0025388416834175587, 0.010477635078132153, 0.10931473225355148, 0.14562343060970306, 0.16158318519592285, 0.002608583075925708, 0.0008811543812043965, 0.0020984336733818054, 0.004393082112073898, 0.0016699284315109253, 0.0015538162551820278, 0.00011806764814537019, 7.76328524807468e-05, 5.7075834774877876e-05, 0.0040557184256613255, 0.001407673000358045, 0.0012767845764756203, 0.00014009285951033235, 0.00011400806397432461, 6.275651685427874e-05, 2.0928146839141846, 4.2445387840271, 4.643556118011475, 0.10521800816059113, 0.007291918154805899, 0.04345085099339485, 1.5272588729858398, 1.9134587049484253, 2.1831846237182617, 0.04345709830522537, 0.003027192084118724, 0.03148442879319191, 0.00781234260648489, 0.0014598118141293526, 0.002263502450659871, 0.0003789660695474595, 0.00032701907912269235, 0.0001013336586765945, 0.009710495360195637, 0.003811684437096119, 0.007518196478486061, 0.00029373232973739505, 0.00031791391666047275, 0.00014278633170761168, 0.006083057262003422, 0.0015210893470793962, 0.001835383241996169, 0.00017336181190330535, 0.00016897554451134056, 5.7435056078247726e-05], "count": [1494]}, "timestamp": {"min": [0.0], "max": [49.766666666666666], "mean": [24.883333333333333], "std": [14.376018482438294], "count": [1494]}, "frame_index": {"min": [0], "max": [1493], "mean": [746.5], "std": [431.2805544731488], "count": [1494]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [1494]}, "index": {"min": [12892], "max": [14385], "mean": [13638.5], "std": [431.2805544731488], "count": [1494]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1494]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.32444506883621216]], [[0.3237232565879822]], [[0.3235730826854706]]], "std": [[[0.1982860118150711]], [[0.19829866290092468]], [[0.19828757643699646]]], "count": [1494]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3053554892539978]], [[0.3072834610939026]], [[0.30559325218200684]]], "std": [[[0.17225028574466705]], [[0.1744537502527237]], [[0.17352677881717682]]], "count": [1494]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3091053068637848]], [[0.3080829977989197]], [[0.30628979206085205]]], "std": [[[0.17400358617305756]], [[0.17469310760498047]], [[0.17299321293830872]]], "count": [1494]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31849926710128784]], [[0.31781205534935]], [[0.3178320527076721]]], "std": [[[0.19628013670444489]], [[0.19630703330039978]], [[0.19634145498275757]]], "count": [1494]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7137255072593689]], [[0.7137255072593689]], [[0.7137255072593689]]], "mean": [[[0.004570134449750185]], [[0.004570134449750185]], [[0.004570134449750185]]], "std": [[[0.04482004791498184]], [[0.04482004791498184]], [[0.04482004791498184]]], "count": [1494]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.9607843160629272]], [[0.9607843160629272]], [[0.9607843160629272]]], "mean": [[[0.47487902641296387]], [[0.47487902641296387]], [[0.47487902641296387]]], "std": [[[0.15198513865470886]], [[0.15198513865470886]], [[0.15198513865470886]]], "count": [1494]}}}
+{"episode_index": 9, "stats": {"observation.state": {"min": [0.7953107953071594, -0.808377206325531, 0.0013477460015565157, 1.0461512804031372, -0.8357527256011963, -0.768439531326294, 0.3297458291053772, 0.008802223019301891, -0.20136073231697083, -0.12577666342258453, -0.31731489300727844, 0.004349777474999428, 0.003252375638112426, -4.219401307636872e-05, 0.0033782750833779573, 0.0008473811321891844, 0.0034223783295601606, -0.00016264317673631012, 0.00349811720661819, 0.0008243231568485498, 0.0033693904988467693, 0.0001955154148163274, 0.0031304354779422283, 0.0011249638628214598, 0.005844102241098881, 0.0032636600080877542, 0.00015896356489975005, 0.006560476962476969, 0.0008558061672374606, 0.34934255480766296, -1.01047682762146, 0.001980752684175968, 1.1157183647155762, -1.6513913869857788, -0.7680006623268127, -0.42828935384750366, 0.026112886145710945, -0.32037070393562317, -0.13971620798110962, -0.3172590434551239, 0.0069444687105715275, 0.024691607803106308, 5.7158445997629315e-05, 0.0034881895408034325, 0.005515293683856726, 0.03847704082727432, 0.003008287400007248, 0.007111113052815199, 0.010564994066953659, 0.013883556239306927, -0.00015577429439872503, 0.032773662358522415, 0.005725032649934292, 0.010208982974290848, 0.06841174513101578, 0.001540083554573357, 0.006793779321014881, 0.0008402863750234246, 0.5616286993026733, -1.1072465181350708, 0.4356505572795868, -0.033076461404561996, -0.0025885924696922302, -0.13278521597385406, -0.7994915843009949], "max": [1.049293041229248, -0.5287250876426697, 0.32734909653663635, 1.5684349536895752, -0.0015399728436022997, -0.28351813554763794, 0.5186501741409302, 1.2502137422561646, -0.00046650730655528605, 0.48159241676330566, -0.002383836777880788, 0.9693599343299866, 1.152781367301941, 0.19816891849040985, 0.23122285306453705, 0.09175261855125427, 1.2853381633758545, 0.18724097311496735, 0.011337857693433762, 0.16351662576198578, 1.116646647453308, 0.10918690264225006, 0.048360954970121384, 0.36483636498451233, 0.06984879821538925, 0.8040675520896912, 0.1714971959590912, 0.11898846179246902, 0.10379599034786224, 1.1972252130508423, -0.34748128056526184, 0.7677319645881653, 1.8559819459915161, -0.0026211896911263466, 0.12508150935173035, 0.5176649689674377, 1.3226137161254883, -0.0027368951123207808, 0.5724871754646301, 0.3144490420818329, 0.6375384330749512, 1.4529955387115479, 0.13050810992717743, 0.109972283244133, 0.5403857231140137, 1.4668567180633545, 0.2013285905122757, 1.653363823890686, 1.2386902570724487, 1.4668858051300049, 0.24013608694076538, 1.6562823057174683, 0.9796462059020996, 0.14036014676094055, 1.4677808284759521, 0.17331549525260925, 1.6534305810928345, 1.3081090450286865, 0.5629709362983704, -1.1065753698349, 0.5422621965408325, -0.0006711165769957006, 0.011504855938255787, 0.0457318015396595, -0.5623956918716431], "mean": [0.9611250162124634, -0.595770537853241, 0.20775634050369263, 1.2143983840942383, -0.7351341843605042, -0.43429800868034363, 0.3992413282394409, 1.2182157039642334, -0.16164983808994293, 0.3918677866458893, -0.3092819154262543, 0.8147538900375366, 1.110105276107788, 0.18008394539356232, 0.18439476191997528, 0.08665917813777924, 1.2151832580566406, 0.16440607607364655, 0.003826396306976676, 0.14892640709877014, 1.0567585229873657, 0.07098979502916336, 0.008959773927927017, 0.3551211655139923, 0.06009270250797272, 0.7554577589035034, 0.08612142503261566, 0.09376383572816849, 0.08067866414785385, 0.8925792574882507, -0.7101647853851318, 0.36355116963386536, 1.4080957174301147, -1.162184238433838, -0.24851210415363312, -0.11545003950595856, 1.2409735918045044, -0.2425486445426941, 0.22251161932945251, -0.08119417726993561, 0.5814933776855469, 1.2391682863235474, 0.06734378635883331, 0.09998418390750885, 0.4683266282081604, 1.425203800201416, 0.17323239147663116, 1.4000301361083984, 1.1067246198654175, 1.3329622745513916, 0.16358469426631927, 1.5222727060317993, 0.8771270513534546, 0.10953535884618759, 1.4367594718933105, 0.12714673578739166, 1.3991858959197998, 1.117483139038086, 0.5624966621398926, -1.1067843437194824, 0.44525471329689026, -0.0256810300052166, 0.004249942023307085, -0.03805674612522125, -0.6773431301116943], "std": [0.057006679475307465, 0.0696553885936737, 0.0381089486181736, 0.10791809111833572, 0.1736866980791092, 0.049825992435216904, 0.026257239282131195, 0.13307172060012817, 0.01912527345120907, 0.15380343794822693, 0.034484390169382095, 0.09239030629396439, 0.1311929076910019, 0.03096158243715763, 0.061313189566135406, 0.010091587901115417, 0.1814631074666977, 0.022267527878284454, 0.0011585537577047944, 0.032086752355098724, 0.1440798044204712, 0.015196244232356548, 0.011211483739316463, 0.042126379907131195, 0.0075362552888691425, 0.0944078117609024, 0.02423259988427162, 0.03148432821035385, 0.027039524167776108, 0.23249784111976624, 0.1666336953639984, 0.1880773901939392, 0.18656383454799652, 0.4396503269672394, 0.19992388784885406, 0.20789332687854767, 0.13994860649108887, 0.057295218110084534, 0.19828960299491882, 0.18450294435024261, 0.06858662515878677, 0.17373864352703094, 0.025166422128677368, 0.012750350870192051, 0.06717944145202637, 0.15293246507644653, 0.020609160885214806, 0.5131508111953735, 0.1971290558576584, 0.2671726644039154, 0.026073282584547997, 0.336125910282135, 0.14365404844284058, 0.024272629991173744, 0.13267356157302856, 0.02216287888586521, 0.5308908224105835, 0.4174121916294098, 7.124685362214223e-05, 3.819567064056173e-05, 0.01166907511651516, 0.006283416412770748, 0.0030760562513023615, 0.045047517865896225, 0.07169118523597717], "count": [1652]}, "observation.state.joint_torque": {"min": [-49.805999755859375, -22.583999633789062, -26.81100082397461, -16.951000213623047, -0.30160000920295715, -2.018399953842163, 0.9944000244140625, -1.120704174041748, -0.6736961007118225, -0.889765739440918, -0.9270464181900024, -0.37521788477897644, -0.44806981086730957, -0.6054219603538513, -0.2473781555891037, -0.04138316959142685, -0.46246176958084106, -0.331974595785141, -0.03818589448928833, -0.019978083670139313, -0.5814353227615356, -0.8548825979232788, -0.0879935771226883, -0.026399608701467514, -0.07476618140935898, -0.3550017476081848, -0.4691780209541321, -0.11787818372249603, -0.02925362065434456, 15.977999687194824, -22.993499755859375, 6.583000183105469, -20.149999618530273, -1.988800048828125, -1.7807999849319458, -3.109600067138672, -1.2671598196029663, -0.924580991268158, -0.8363301157951355, -0.973025918006897, -0.14776279032230377, -0.5996651649475098, -1.3835474252700806, -0.0879935771226883, -0.019978083670139313, -0.4231237471103668, -0.4355967938899994, -0.34699350595474243, -0.02354559674859047, -0.499880850315094, -0.5209890604019165, -0.2025512456893921, -0.020691584795713425, -0.06684976816177368, -0.707125186920166, -1.0256673097610474, -0.2722820043563843, -0.04923170804977417, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-15.658499717712402, 23.945999145507812, -4.14300012588501, 4.113999843597412, 2.023200035095215, 2.41759991645813, 3.973599910736084, 1.9204795360565186, 0.7310048341751099, 1.2414469718933105, 0.8835523128509521, 0.24571789801120758, 0.9469911456108093, 0.4806916117668152, 0.17930765450000763, 0.07135029137134552, 0.8817476630210876, 0.7627739906311035, 0.04980768263339996, 0.0706368014216423, 0.8980585336685181, 0.21683891117572784, 0.06308973580598831, 0.03424813970923424, 0.15788859128952026, 0.8260987401008606, 0.3454071581363678, 0.10127562284469604, 0.021405089646577835, 54.76350021362305, 25.799999237060547, 30.458999633789062, 3.5739998817443848, -0.07999999821186066, 3.0288000106811523, 0.46720001101493835, 2.6425695419311523, 4.0498175621032715, 2.4157886505126953, 1.3818707466125488, 0.6558011174201965, 1.7702114582061768, 0.3722721338272095, 1.0559228658676147, 0.21405088901519775, 0.3905019462108612, 0.27344730496406555, 0.12285894900560379, 0.02996712550520897, 0.6687465906143188, 1.1772626638412476, 0.2291153371334076, 0.04709119349718094, 0.49169760942459106, 0.4279210567474365, 0.43175891041755676, 0.38517940044403076, 0.07135029137134552, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-31.43541717529297, 1.0975300073623657, -14.638757705688477, -5.660256385803223, 0.1416589915752411, 0.9133532047271729, 1.8308238983154297, -0.01261964626610279, 0.01646489091217518, 0.20308934152126312, 0.02521335519850254, 0.0004723481833934784, 0.07461696863174438, 0.062208905816078186, 0.005698348395526409, 0.017254475504159927, 0.10251934826374054, 0.12870696187019348, -0.00012562479241751134, 0.015557554550468922, 0.050572965294122696, -0.10682737082242966, -0.003046150552108884, 0.0012715243501588702, 0.006601808127015829, 0.014421583153307438, 0.01724420301616192, 0.0015406680759042501, 0.0005247601075097919, 28.3348445892334, 4.2930498123168945, 14.469341278076172, -6.036564350128174, -0.6750513315200806, 1.174214243888855, -1.047844409942627, 0.17178753018379211, 0.4541519582271576, 0.17902153730392456, 0.019795039668679237, 0.0361165776848793, 0.2362038493156433, -0.19248968362808228, 0.11070244014263153, 0.02910633571445942, 0.010167279280722141, -0.0011186052579432726, 0.0006301365792751312, 0.0015358449891209602, -0.02324841171503067, 0.09200240671634674, 0.00291650602594018, 0.0006867261254228652, 0.1770535260438919, 0.0076670036651194096, -0.10812396556138992, -0.004074259661138058, -0.0011238098377361894, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.0694568157196045, 1.863863468170166, 0.8855873942375183, 0.9668673276901245, 0.25655725598335266, 0.44161608815193176, 0.28273913264274597, 0.15603946149349213, 0.11227672547101974, 0.29763755202293396, 0.16922499239444733, 0.02008059248328209, 0.12068355083465576, 0.11902624368667603, 0.045137178152799606, 0.014055527746677399, 0.16663600504398346, 0.153828963637352, 0.005322331562638283, 0.014846832491457462, 0.15884225070476532, 0.1648842841386795, 0.011483091861009598, 0.005531887523829937, 0.01983664743602276, 0.08558078855276108, 0.06350681930780411, 0.01689797267317772, 0.006380070000886917, 4.440023422241211, 3.107146978378296, 1.771675705909729, 2.6382522583007812, 0.22907687723636627, 0.6761018633842468, 0.7150516510009766, 0.5175857543945312, 0.8663054704666138, 0.4167685806751251, 0.2992933988571167, 0.08610082417726517, 0.490551233291626, 0.37562295794487, 0.2149156928062439, 0.05345461890101433, 0.06615003198385239, 0.04807642102241516, 0.020314248278737068, 0.005789944436401129, 0.13018159568309784, 0.21256794035434723, 0.01585659570991993, 0.007486511021852493, 0.16403017938137054, 0.10385478287935257, 0.1701340228319168, 0.026536382734775543, 0.0056831794790923595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1652]}, "observation.state.tcp": {"min": [0.33531326055526733, 0.15469896793365479, 1.0432214736938477, -1.2078676223754883, 1.0478447675704956, -1.542741060256958, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25191935896873474, -0.31873324513435364, 0.9999611377716064, -0.3175596296787262, 0.9522725939750671, 0.11796873062849045, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4277589023113251, 0.2617669999599457, 1.1487566232681274, -0.3609358072280884, 1.408915638923645, -1.2298141717910767, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.435075044631958, -0.06885161250829697, 1.2792917490005493, 1.2061963081359863, 2.1065833568573, 1.6064705848693848, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.39147812128067017, 0.17850764095783234, 1.0969470739364624, -0.5168485641479492, 1.261738896369934, -1.2933785915374756, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3640064299106598, -0.1993468999862671, 1.125633955001831, 0.3700275421142578, 1.5593008995056152, 0.8167441487312317, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.019427146762609482, 0.020054778084158897, 0.020461829379200935, 0.18888987600803375, 0.05179784819483757, 0.07675610482692719, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05444423854351044, 0.06885874271392822, 0.0808153972029686, 0.4399673640727997, 0.3098227083683014, 0.4267592430114746, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1652]}, "action": {"min": [0.7952853441238403, -0.8084873557090759, 0.0028256354853510857, 1.046574354171753, -0.8357446789741516, -0.7650874853134155, 0.3297572135925293, 0.0, -0.2000780701637268, -0.12984086573123932, -0.3490658402442932, 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, 0.34936946630477905, -1.0108128786087036, 0.0026809568516910076, 1.1156141757965088, -1.651355504989624, -0.7664293646812439, -0.42832082509994507, 0.0, -0.34561437368392944, -0.1457878202199936, -0.3369857668876648, 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, 0.5624915957450867, -1.1069231033325195, 0.43478924036026, -0.03393709659576416, -0.0041436501778662205, -0.13366538286209106, -0.7998155355453491], "max": [1.0493719577789307, -0.5286657810211182, 0.3276345431804657, 1.5640894174575806, -0.0045640659518539906, -0.2831273376941681, 0.5180100798606873, 1.2533581256866455, 0.0, 0.4896381199359894, 0.0, 0.9758322834968567, 1.1596534252166748, 0.20134586095809937, 0.2343585193157196, 0.0935344249010086, 1.293290138244629, 0.18533462285995483, 0.016491983085870743, 0.1633591502904892, 1.1243587732315063, 0.11352532356977463, 0.05413747951388359, 0.3701688051223755, 0.08129136264324188, 0.812913715839386, 0.17095357179641724, 0.1245591789484024, 0.10676500201225281, 1.1973621845245361, -0.34736567735671997, 0.7676732540130615, 1.8562217950820923, -0.005076933652162552, 0.1252092570066452, 0.5153241753578186, 1.3284273147583008, 0.0, 0.5757583975791931, 0.3490658402442932, 0.6408205032348633, 1.5370718240737915, 0.10307519882917404, 0.11677953600883484, 0.5455604791641235, 1.5707963705062866, 0.20057862997055054, 1.7453292608261108, 1.241661548614502, 1.5707963705062866, 0.24122923612594604, 1.7453292608261108, 0.9810769557952881, 0.1496877521276474, 1.5707963705062866, 0.17661041021347046, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106767177581787, 0.5442397594451904, 3.5002370958946755e-18, 0.012359190732240677, 0.04610972851514816, -0.5626336336135864], "mean": [0.9612389802932739, -0.5958526730537415, 0.20777690410614014, 1.214499592781067, -0.7351006865501404, -0.43426576256752014, 0.3992207646369934, 1.2146247625350952, -0.1614268273115158, 0.397227019071579, -0.34172114729881287, 0.8139141798019409, 1.113389253616333, 0.18173806369304657, 0.18581315875053406, 0.08998949080705643, 1.217911958694458, 0.16690857708454132, 0.0003901571617461741, 0.15106453001499176, 1.0587772130966187, 0.07223374396562576, 0.00616542249917984, 0.357747346162796, 0.07583295553922653, 0.7583298683166504, 0.08836210519075394, 0.09700343012809753, 0.08313111215829849, 0.8926533460617065, -0.7106924653053284, 0.36337944865226746, 1.4082696437835693, -1.1614681482315063, -0.24882762134075165, -0.11526025831699371, 1.242871880531311, -0.2411404252052307, 0.22397279739379883, -0.0778806284070015, 0.5830276608467102, 1.2479287385940552, 0.06309289485216141, 0.10207518190145493, 0.47059375047683716, 1.512644648551941, 0.17180562019348145, 1.468213438987732, 1.1067067384719849, 1.4097241163253784, 0.16407747566699982, 1.5962101221084595, 0.8782615661621094, 0.12498186528682709, 1.5277442932128906, 0.12585295736789703, 1.4666755199432373, 1.1838775873184204, 0.5625782608985901, -1.1067852973937988, 0.4453032910823822, -0.02572624199092388, 0.004292722791433334, -0.03808041289448738, -0.6774064898490906], "std": [0.056975796818733215, 0.06976600736379623, 0.0381198525428772, 0.10819447785615921, 0.17373943328857422, 0.049943163990974426, 0.02619986981153488, 0.15261203050613403, 0.022466978058218956, 0.15594258904457092, 0.04600169137120247, 0.11253390461206436, 0.14938884973526, 0.033816177397966385, 0.06271791458129883, 0.012109566479921341, 0.19581346213817596, 0.02630503848195076, 0.0022309389896690845, 0.032886844128370285, 0.15937896072864532, 0.0165940523147583, 0.013309319503605366, 0.04890977218747139, 0.010799387469887733, 0.10799387097358704, 0.026858314871788025, 0.03152988478541374, 0.02702280320227146, 0.23304098844528198, 0.167008176445961, 0.18815121054649353, 0.18672865629196167, 0.4400166869163513, 0.19987817108631134, 0.2080550342798233, 0.16020044684410095, 0.06420338898897171, 0.19890598952770233, 0.19561631977558136, 0.0814220979809761, 0.19753746688365936, 0.01857716403901577, 0.014317602850496769, 0.07613012194633484, 0.19776757061481476, 0.02385050430893898, 0.5492064952850342, 0.208958238363266, 0.3133769929409027, 0.028696902096271515, 0.3750084340572357, 0.1525222212076187, 0.02774849161505699, 0.17926596105098724, 0.02409512549638748, 0.5637978315353394, 0.4476848542690277, 1.503489420429105e-05, 2.267525087518152e-05, 0.012159406207501888, 0.006329068914055824, 0.003103693714365363, 0.045093558728694916, 0.0717298835515976], "count": [1652]}, "observation.state.tcp_pose": {"min": [0.33531326055526733, 0.15469896793365479, 1.0432214736938477, -1.2078676223754883, 1.0478447675704956, -1.542741060256958, 0.25191935896873474, -0.31873324513435364, 0.9999611377716064, -0.3175596296787262, 0.9522725939750671, 0.11796873062849045], "max": [0.4277589023113251, 0.2617669999599457, 1.1487566232681274, -0.3609358072280884, 1.408915638923645, -1.2298141717910767, 0.435075044631958, -0.06885161250829697, 1.2792917490005493, 1.2061963081359863, 2.1065833568573, 1.6064705848693848], "mean": [0.39147812128067017, 0.17850764095783234, 1.0969470739364624, -0.5168485641479492, 1.261738896369934, -1.2933785915374756, 0.3640064299106598, -0.1993468999862671, 1.125633955001831, 0.3700275421142578, 1.5593008995056152, 0.8167441487312317], "std": [0.019427146762609482, 0.020054778084158897, 0.020461829379200935, 0.18888987600803375, 0.05179784819483757, 0.07675610482692719, 0.05444423854351044, 0.06885874271392822, 0.0808153972029686, 0.4399673640727997, 0.3098227083683014, 0.4267592430114746], "count": [1652]}, "action.tcp_pose": {"min": [0.33566734194755554, 0.15495340526103973, 1.042851209640503, -1.2057819366455078, 1.038378357887268, -1.5467538833618164, 0.25206026434898376, -0.31923240423202515, 0.999940037727356, -0.31742072105407715, 0.9332879781723022, 0.11806222796440125], "max": [0.42808040976524353, 0.2620467245578766, 1.1492143869400024, -0.3606606721878052, 1.4102736711502075, -1.2306159734725952, 0.4353669583797455, -0.06905142962932587, 1.2862634658813477, 1.2065930366516113, 2.1069328784942627, 1.6261547803878784], "mean": [0.3915676772594452, 0.17855104804039001, 1.0969362258911133, -0.5169515013694763, 1.2617515325546265, -1.29343843460083, 0.364046186208725, -0.19953541457653046, 1.125632643699646, 0.37047502398490906, 1.5592480897903442, 0.816787838935852], "std": [0.019545407965779305, 0.020079022273421288, 0.02051042579114437, 0.18878142535686493, 0.051914624869823456, 0.07683195918798447, 0.0545787513256073, 0.06905326247215271, 0.08089908957481384, 0.43999210000038147, 0.3100959360599518, 0.42712661623954773], "count": [1652]}, "subtask_index": {"min": [0], "max": [21], "mean": [8.974576271186441], "std": [6.843765486273448], "count": [1652]}, "observation.tactile": {"min": [-6.030834197998047, -0.0040283203125, -0.0023193359375, -0.08589553833007812, -0.015530109405517578, -0.14345979690551758, -0.31717681884765625, -0.00250244140625, -0.00128173828125, -0.18916797637939453, -0.013353824615478516, -0.005090475082397461, -0.6724472045898438, -0.01422119140625, -0.00531005859375, -0.13119029998779297, -0.023477554321289062, -0.01613640785217285, -0.023479461669921875, -0.006683349609375, -0.0089111328125, -0.0001697540283203125, -0.0004572868347167969, -0.0005185604095458984, -0.0006103515625, -0.0009002685546875, -0.00439453125, 0.0, -0.0016756057739257812, -0.00033020973205566406, -5.584831237792969, -0.018646240234375, -0.00927734375, -0.39196109771728516, -0.05001688003540039, -0.12090945243835449, -8.60272216796875, -0.00653076171875, -0.0142822265625, -0.13917255401611328, -0.020341873168945312, -0.16008377075195312, -0.019580841064453125, -0.00445556640625, -0.00555419921875, -0.000202178955078125, -0.0013041496276855469, -0.0005376338958740234, -0.0836181640625, -0.005218505859375, -0.010009765625, -0.0007839202880859375, -0.0015649795532226562, -0.0023202896118164062, -0.028413772583007812, -0.007232666015625, -0.00421142578125, -0.0001621246337890625, -0.0007047653198242188, -0.00034546852111816406], "max": [0.8275642395019531, 4.349365234375, 3.1595458984375, 0.0006761550903320312, 0.0009436607360839844, 0.021686077117919922, 5.803184509277344, 4.879913330078125, 12.1002197265625, 0.0026273727416992188, 0.007070064544677734, 0.10492920875549316, 4.116127014160156, 2.764312744140625, 8.26788330078125, 0.00098419189453125, 0.0065708160400390625, 0.07675909996032715, 0.00786590576171875, 0.0055999755859375, 0.00146484375, 0.0005664825439453125, 8.678436279296875e-05, 0.0, 0.032466888427734375, 0.01727294921875, 0.00311279296875, 0.0016536712646484375, 0.0, 7.343292236328125e-05, 3.9522781372070312, 14.695892333984375, 15.92266845703125, 0.0028562545776367188, 0.02511739730834961, 0.08776974678039551, 0.40216064453125, 7.645416259765625, 7.18365478515625, 0.005007743835449219, 0.0069866180419921875, 0.010295867919921875, 0.015544891357421875, 0.0070648193359375, 0.0052490234375, 0.0014324188232421875, 3.2901763916015625e-05, 0.0, 0.06182861328125, 0.10479736328125, 0.1080322265625, 0.0012912750244140625, 0.0009469985961914062, 0.0010776519775390625, 0.0049152374267578125, 0.015167236328125, 0.00994873046875, 0.0007991790771484375, 4.8160552978515625e-05, 6.747245788574219e-05], "mean": [-1.7462166547775269, 2.609790086746216, 1.7496929168701172, -0.0425884984433651, -0.007279302459210157, -0.03815554827451706, 1.3977998495101929, 0.7458316683769226, 2.5313611030578613, -0.040208347141742706, -0.005599460564553738, 0.023453038185834885, 0.43436506390571594, 0.36621198058128357, 1.337968111038208, -0.024544764310121536, 0.0014418070204555988, 0.007500492502003908, -0.007830946706235409, -0.001143550151027739, -0.004341217689216137, 0.00022381443704944104, -0.00014050531899556518, -0.00027852674247696996, 0.00494407257065177, 0.004842568654567003, -0.000807237986009568, 0.0007917078328318894, -0.0006876234547235072, -0.00019072620489168912, 0.2104812115430832, 2.411179304122925, 2.5810835361480713, -0.05793430656194687, -0.004463339690119028, 0.005136585794389248, -1.4930109977722168, 1.1184970140457153, 1.3778847455978394, -0.024329649284482002, -0.0009437880362384021, -0.029589083045721054, 0.0029599072877317667, 0.0021554608829319477, -0.0005057937814854085, 0.0005571674555540085, -0.0005361901130527258, -0.00023985847656149417, 0.007105299737304449, 0.0020008040592074394, 0.00025483654462732375, 0.0005717190797440708, -0.000516559521201998, -0.0002218578738393262, -0.006199369207024574, 0.0025058218743652105, 0.002653219038620591, 0.00024615187430754304, -0.0002398358192294836, -8.123442239593714e-05], "std": [0.9781006574630737, 1.2328201532363892, 0.8075661659240723, 0.020138336345553398, 0.003493641037493944, 0.02268419973552227, 0.834301769733429, 0.4617508351802826, 1.373160719871521, 0.021745862439274788, 0.003956887871026993, 0.014294619672000408, 0.5472670197486877, 0.3646942973136902, 1.0960224866867065, 0.019066836684942245, 0.004037212580442429, 0.010436194948852062, 0.004866012372076511, 0.0017469150479882956, 0.0015910478541627526, 0.00010377699800301343, 7.211582851596177e-05, 8.058260573307052e-05, 0.0028800545260310173, 0.0015639648772776127, 0.0011404850520193577, 0.00015869618800934404, 0.00012695189798250794, 5.092644278192893e-05, 1.0660067796707153, 3.8321125507354736, 4.100249290466309, 0.0928085595369339, 0.009147297590970993, 0.02365332655608654, 2.383782148361206, 1.7834419012069702, 2.104149103164673, 0.03818608820438385, 0.0024532850366085768, 0.04640836641192436, 0.005040161777287722, 0.001525301719084382, 0.0018798056989908218, 0.0003379813861101866, 0.0003188735281582922, 0.00010942920198431239, 0.005927173420786858, 0.00407920079305768, 0.004174296278506517, 0.0002967572072520852, 0.0003229286812711507, 0.00010952504089800641, 0.005998276174068451, 0.0027952303644269705, 0.001916705397889018, 0.00013818741717841476, 0.00010969962750095874, 5.7706791267264634e-05], "count": [1652]}, "timestamp": {"min": [0.0], "max": [55.03333333333333], "mean": [27.516666666666666], "std": [15.896374499307136], "count": [1652]}, "frame_index": {"min": [0], "max": [1651], "mean": [825.5], "std": [476.8912349792141], "count": [1652]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [1652]}, "index": {"min": [14386], "max": [16037], "mean": [15211.5], "std": [476.8912349792141], "count": [1652]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1652]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3194813132286072]], [[0.31880560517311096]], [[0.31854650378227234]]], "std": [[[0.1946483701467514]], [[0.194686159491539]], [[0.19461806118488312]]], "count": [1652]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30565762519836426]], [[0.30772870779037476]], [[0.30613335967063904]]], "std": [[[0.17266902327537537]], [[0.17490282654762268]], [[0.1738690584897995]]], "count": [1652]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3091735243797302]], [[0.30813050270080566]], [[0.3060009479522705]]], "std": [[[0.17397870123386383]], [[0.17453552782535553]], [[0.17271095514297485]]], "count": [1652]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31324097514152527]], [[0.3125930726528168]], [[0.31247544288635254]]], "std": [[[0.19299009442329407]], [[0.19305069744586945]], [[0.19300556182861328]]], "count": [1652]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8039215803146362]], [[0.8039215803146362]], [[0.8039215803146362]]], "mean": [[[0.00639910064637661]], [[0.00639910064637661]], [[0.00639910064637661]]], "std": [[[0.05227144435048103]], [[0.05227144435048103]], [[0.05227144435048103]]], "count": [1652]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.95686274766922]], [[0.95686274766922]], [[0.95686274766922]]], "mean": [[[0.47455868124961853]], [[0.47455868124961853]], [[0.47455868124961853]]], "std": [[[0.15228861570358276]], [[0.15228861570358276]], [[0.15228861570358276]]], "count": [1652]}}}
+{"episode_index": 10, "stats": {"observation.state": {"min": [0.8307933807373047, -0.8135961890220642, 3.655188629636541e-05, 1.1024491786956787, -0.7498133778572083, -0.7699745893478394, 0.33111372590065, 0.007657633628696203, -0.18916507065296173, -0.18217222392559052, -0.3157826364040375, 0.0024262736551463604, 0.0032977585215121508, -0.046441178768873215, 0.0034091221168637276, 0.0008398429490625858, 0.003843337530270219, -0.05127384886145592, 0.003493153490126133, 0.0008354087476618588, 0.0033171384129673243, -0.07905935496091843, 0.0036271780263632536, 0.0008589101489633322, 0.006279734428972006, 0.003242808161303401, -0.04802344739437103, 0.006526438985019922, 0.00083496532170102, 0.32710927724838257, -1.058485507965088, 4.314320904086344e-05, 1.174852967262268, -1.7498315572738647, -0.7699235081672668, -0.37276607751846313, 0.011228353716433048, -0.3221867084503174, -0.12702178955078125, -0.31154659390449524, 0.0069200037978589535, 0.008584524504840374, -0.001984581584110856, 0.0034942172933369875, 0.001637117238715291, 0.019308188930153847, -7.114151958376169e-05, 0.003400612622499466, 0.0033012835774570704, 0.006224111653864384, -0.00016190740279853344, 0.0060094865038990974, 0.0036719851195812225, 0.010070908814668655, 0.020785225555300713, -0.008057345636188984, 0.00679094297811389, 0.0008447205764241517, 0.5620121955871582, -1.1069588661193848, 0.44849762320518494, -0.03365170210599899, -0.0036432044580578804, -0.1425643414258957, -0.7903835773468018], "max": [1.0500187873840332, -0.47873011231422424, 0.319381982088089, 1.6010229587554932, 0.004421459976583719, -0.2794070541858673, 0.5199989080429077, 1.2895792722702026, -5.2938332373742014e-05, 0.3408360183238983, -0.0024533479008823633, 1.0474077463150024, 1.190626859664917, 0.16245512664318085, 0.21187295019626617, 0.08741772174835205, 1.2812811136245728, 0.16050264239311218, 0.007542616222053766, 0.15386152267456055, 1.0682123899459839, 0.08318459987640381, 0.003678589826449752, 0.34138596057891846, 0.05950174108147621, 0.7252203822135925, 0.10751044005155563, 0.17927053570747375, 0.1564599871635437, 1.258858323097229, -0.3466867208480835, 0.9059886932373047, 1.8832523822784424, -2.0852552552241832e-05, 0.0472075380384922, 0.5199248194694519, 1.3420270681381226, 0.0016954727470874786, 0.5682373046875, 0.31294742226600647, 0.6696210503578186, 1.4612704515457153, 0.12876538932323456, 0.1103162094950676, 0.5217580199241638, 1.4666333198547363, 0.19212767481803894, 1.6533522605895996, 1.1831812858581543, 1.4681143760681152, 0.223308265209198, 1.653726577758789, 0.9473707675933838, 0.13885630667209625, 1.4665100574493408, 0.16976921260356903, 1.653525948524475, 1.30807363986969, 0.5628750920295715, -1.1065753698349, 0.5441796779632568, 0.0, 0.015243934467434883, 0.03767840191721916, -0.4640291929244995], "mean": [0.9834452867507935, -0.6026706695556641, 0.17190295457839966, 1.222806692123413, -0.6063151359558105, -0.41967713832855225, 0.4499019682407379, 1.240154504776001, -0.13860146701335907, 0.21915951371192932, -0.3064281940460205, 0.8445941209793091, 1.1001352071762085, 0.1284521520137787, 0.16875596344470978, 0.08470398932695389, 1.2036985158920288, 0.10269544273614883, 0.0036403120029717684, 0.13518288731575012, 1.0097805261611938, 0.011794714257121086, 0.0036511877551674843, 0.3245956003665924, 0.05093534663319588, 0.6721518039703369, 0.0032859514467418194, 0.15919335186481476, 0.13768668472766876, 0.9006434679031372, -0.7486687302589417, 0.36238527297973633, 1.4123567342758179, -1.0354975461959839, -0.2506248652935028, -0.06599465012550354, 1.2289254665374756, -0.22810275852680206, 0.2251116931438446, -0.10760103166103363, 0.5845604538917542, 1.2285373210906982, 0.05917179584503174, 0.09973451495170593, 0.48254743218421936, 1.4104528427124023, 0.16145147383213043, 1.3011152744293213, 1.0513017177581787, 1.3132070302963257, 0.1571914702653885, 1.4044873714447021, 0.8485145568847656, 0.10282954573631287, 1.4026986360549927, 0.11119621247053146, 1.2974677085876465, 1.0346301794052124, 0.5624966621398926, -1.106781005859375, 0.45837095379829407, -0.02232803776860237, 0.00518603203818202, -0.03450746461749077, -0.6829155087471008], "std": [0.045354630798101425, 0.08807747811079025, 0.041041478514671326, 0.1263406127691269, 0.17483921349048615, 0.051244352012872696, 0.030026407912373543, 0.1559607833623886, 0.019258739426732063, 0.1302836686372757, 0.03785577043890953, 0.10831011831760406, 0.1423664093017578, 0.0390007309615612, 0.0650891363620758, 0.010760840959846973, 0.1972792148590088, 0.031509216874837875, 0.00027889353805221617, 0.04060761258006096, 0.1537410318851471, 0.023496629670262337, 7.5919228947896045e-06, 0.05261475220322609, 0.008071205578744411, 0.09320875257253647, 0.019696572795510292, 0.03225116804242134, 0.028886325657367706, 0.23756007850170135, 0.16735516488552094, 0.20416854321956635, 0.16545887291431427, 0.4263779819011688, 0.16786083579063416, 0.16127315163612366, 0.1550552397966385, 0.054834622889757156, 0.23545238375663757, 0.18299983441829681, 0.07981354743242264, 0.198853000998497, 0.03217986226081848, 0.013428788632154465, 0.06268484890460968, 0.16618910431861877, 0.024869658052921295, 0.5779777765274048, 0.2288719266653061, 0.2702457308769226, 0.03012053854763508, 0.5485492944717407, 0.14417414367198944, 0.02994599938392639, 0.17811180651187897, 0.03664275258779526, 0.6069467663764954, 0.47573649883270264, 6.343144195852801e-05, 3.568051033653319e-05, 0.011231631971895695, 0.0038486875128000975, 0.0052815997041761875, 0.04338385537266731, 0.0733749195933342], "count": [1526]}, "observation.state.joint_torque": {"min": [-38.03099822998047, -7.986000061035156, -18.208999633789062, -10.03600025177002, -0.37599998712539673, -1.0664000511169434, 1.1832000017166138, -1.1461747884750366, -0.6112931966781616, -0.7891078591346741, -0.8835523128509521, -0.34865376353263855, -0.4471103549003601, -0.5171512365341187, -0.254019170999527, -0.04066966846585274, -0.5564892888069153, -0.3156636953353882, -0.06807050108909607, -0.020691584795713425, -0.7042467594146729, -1.2204384803771973, -0.004980768077075481, -0.026399608701467514, -0.09587664157152176, -0.33677196502685547, -0.39625874161720276, -0.14278201758861542, -0.026399608701467514, 16.168500900268555, -9.379500389099121, 7.089000225067139, -12.880000114440918, -1.7552000284194946, -1.0920000076293945, -2.835200071334839, -2.228673219680786, -0.8507163524627686, -0.595248281955719, -0.7667394876480103, -0.10791664570569992, -0.5756785273551941, -1.2367494106292725, -0.09463459998369217, -0.03496164828538895, -0.3876235783100128, -0.32813677191734314, -0.6840255260467529, -0.014983562752604485, -0.6399626731872559, -0.5795164108276367, -0.6126344799995422, -0.021405089646577835, -0.05849354341626167, -0.8404906988143921, -1.2281142473220825, -0.3702370822429657, -0.08419335633516312, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-25.048500061035156, 15.317999839782715, -10.798999786376953, 2.7279999256134033, 1.4456000328063965, 1.5424000024795532, 3.4263999462127686, 0.7042607069015503, 0.6813372373580933, 1.066227674484253, 0.8214178085327148, 0.06973075866699219, 0.3818667531013489, 0.47685375809669495, 0.18760894238948822, 0.04066966846585274, 0.5699217319488525, 0.7675713896751404, 0.0265640988945961, 0.03781566023826599, 0.6236517429351807, 0.32525837421417236, 0.0016602561809122562, 0.022832093760371208, 0.1372179388999939, 0.3713126480579376, 0.41256964206695557, 0.11123716086149216, 0.016410568729043007, 46.87799835205078, 25.503000259399414, 26.246000289916992, 4.291999816894531, 0.04879999905824661, 3.0439999103546143, 0.4880000054836273, 2.311452627182007, 3.610450506210327, 1.5496338605880737, 1.4067245721817017, 0.5346024632453918, 2.1396052837371826, 0.7973147630691528, 1.0559228658676147, 0.21405088901519775, 0.6773817539215088, 0.36555588245391846, 0.09131408482789993, 0.02925362065434456, 0.8750314116477966, 1.001680612564087, 0.449929416179657, 0.11416048556566238, 0.49169760942459106, 0.5238674879074097, 0.3454071283340454, 0.09961536526679993, 0.04066966846585274, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-31.215496063232422, 1.1784778833389282, -14.747475624084473, -5.315630912780762, 0.12665115296840668, 0.7100893259048462, 1.9080673456192017, -0.012220320291817188, -0.005403731018304825, 0.17261643707752228, 0.0002850571181625128, -0.0011260585160925984, 0.022434277459979057, 0.033202171325683594, -0.0029527712613344193, 0.012929555959999561, 0.03512097895145416, 0.12081532925367355, -0.000481974333524704, 0.0020418514031916857, 0.012540261261165142, -0.07458615303039551, -5.439895630843239e-06, 0.0019838756415992975, 0.0035633756779134274, 0.009775074198842049, 0.009150122292339802, 0.0016591709572821856, -0.0008327310788445175, 27.947420120239258, 4.842154502868652, 14.615723609924316, -5.817516326904297, -0.5865378379821777, 1.101556420326233, -1.210893154144287, -0.017354538664221764, 0.5556036829948425, 0.18528784811496735, 0.10592671483755112, 0.05406610295176506, 0.42198628187179565, -0.12880146503448486, 0.2006440907716751, 0.04710565134882927, 0.003684402210637927, 0.008720649406313896, -0.0013588843867182732, 0.0011661051539704204, -0.020888226106762886, 0.11269618570804596, 0.012258251197636127, 0.003427244257181883, 0.2398538589477539, -0.042535845190286636, -0.1386885643005371, -0.0045836553908884525, -0.0029297552537173033, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.0267090797424316, 1.717179536819458, 0.7692506313323975, 0.9123631119728088, 0.291786253452301, 0.42232057452201843, 0.2830080986022949, 0.17826063930988312, 0.11158411204814911, 0.2435402274131775, 0.17729300260543823, 0.024829039350152016, 0.07829611003398895, 0.09568284451961517, 0.04083918780088425, 0.010312823578715324, 0.16863000392913818, 0.1656750738620758, 0.003980278968811035, 0.008649188093841076, 0.1257549673318863, 0.18124601244926453, 0.00019468623213469982, 0.005848574917763472, 0.014024131931364536, 0.06394374370574951, 0.07143544405698776, 0.016370071098208427, 0.007158191874623299, 4.293929100036621, 3.027517318725586, 1.842491865158081, 2.6769654750823975, 0.25920355319976807, 0.6985035538673401, 0.6573857665061951, 0.6445784568786621, 0.9114726781845093, 0.3763449192047119, 0.3362315595149994, 0.08727271854877472, 0.6510269045829773, 0.3575804531574249, 0.32209157943725586, 0.07302939891815186, 0.07249442487955093, 0.06911158561706543, 0.02736571431159973, 0.0051717874594032764, 0.16884194314479828, 0.23964059352874756, 0.05175437778234482, 0.017484750598669052, 0.18161660432815552, 0.1541007161140442, 0.21011686325073242, 0.022685503587126732, 0.009294051676988602, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1526]}, "observation.state.tcp": {"min": [0.33669736981391907, 0.1400807946920395, 1.0419994592666626, -1.322743535041809, 1.1199935674667358, -1.5751712322235107, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.26826211810112, -0.3281611502170563, 0.9953154921531677, -0.25604405999183655, 0.9513211846351624, 0.1822134405374527, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.42263317108154297, 0.26054441928863525, 1.148707628250122, -0.40710344910621643, 1.4294347763061523, -1.2289981842041016, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4272972345352173, -0.09944898635149002, 1.2735594511032104, 1.2088873386383057, 2.0264220237731934, 1.5847580432891846, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.39368802309036255, 0.1785522699356079, 1.0923677682876587, -0.5967954993247986, 1.2561562061309814, -1.3619295358657837, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.36893224716186523, -0.21536016464233398, 1.1229219436645508, 0.46532317996025085, 1.57207190990448, 0.9057069420814514, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.021748483180999756, 0.02185252495110035, 0.01984182372689247, 0.20637546479701996, 0.05433877557516098, 0.05512930080294609, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.051153525710105896, 0.0659482553601265, 0.08287306129932404, 0.4256918430328369, 0.2756475508213043, 0.4049686789512634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1526]}, "action": {"min": [0.8306728601455688, -0.8137796521186829, 1.5933277036088302e-17, 1.102306604385376, -0.7498404383659363, -0.7699999809265137, 0.33104002475738525, 0.0, -0.18914848566055298, -0.18510255217552185, -0.3490658402442932, 0.0, 0.0, -0.0484052374958992, 0.0, 0.0, 0.0, -0.05252797156572342, 0.0, 0.0, 0.0, -0.0961509421467781, 0.0, 0.0, 0.0, 0.0, -0.04783041030168533, 0.0, 0.0, 0.3271264135837555, -1.0587936639785767, 0.0015135107096284628, 1.1747788190841675, -1.7498193979263306, -0.7678999304771423, -0.3728838264942169, 0.0, -0.3450391888618469, -0.13754267990589142, -0.311579167842865, 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, -0.010726995766162872, 0.0, 0.0, 0.5624915957450867, -1.1069231033325195, 0.4478648900985718, -0.03479351848363876, -0.0046646310947835445, -0.14309599995613098, -0.7910443544387817], "max": [1.0499999523162842, -0.47872915863990784, 0.3194563686847687, 1.6012271642684937, 0.004314386751502752, -0.27843326330184937, 0.5199999809265137, 1.298227071762085, 0.0, 0.3466327488422394, 0.0, 1.0562995672225952, 1.1973881721496582, 0.16462606191635132, 0.23278577625751495, 0.09180865436792374, 1.2881555557250977, 0.16127055883407593, 0.012619562447071075, 0.15766441822052002, 1.0727176666259766, 0.08926909416913986, 0.0, 0.3448580503463745, 0.07367899268865585, 0.7367899417877197, 0.10547178238630295, 0.18683889508247375, 0.1599174439907074, 1.2588422298431396, -0.3465603291988373, 0.9061890244483948, 1.8834216594696045, -0.002764076692983508, 0.04733170196413994, 0.517225980758667, 1.3420414924621582, 0.0, 0.5724986791610718, 0.3490658402442932, 0.675239086151123, 1.5318793058395386, 0.12915271520614624, 0.1127704605460167, 0.5255419015884399, 1.5707963705062866, 0.19645589590072632, 1.7453292608261108, 1.1885955333709717, 1.5707963705062866, 0.2241637110710144, 1.7453292608261108, 0.949150800704956, 0.14859479665756226, 1.5707963705062866, 0.1767062544822693, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106767177581787, 0.5442397594451904, 1.0324062938765418e-18, 0.01612141728401184, 0.03768768534064293, -0.4640501141548157], "mean": [0.9835793972015381, -0.6027566194534302, 0.17185014486312866, 1.2228584289550781, -0.6064318418502808, -0.41964757442474365, 0.44988980889320374, 1.2395343780517578, -0.13802875578403473, 0.22302937507629395, -0.340293824672699, 0.8421990871429443, 1.1017816066741943, 0.13041526079177856, 0.16916663944721222, 0.08853023499250412, 1.2065554857254028, 0.10564025491476059, 6.867096817586571e-05, 0.13707679510116577, 1.0115158557891846, 0.012853230349719524, 0.0, 0.3266277015209198, 0.0677928626537323, 0.6779289841651917, 0.0034828311763703823, 0.1641150861978531, 0.14066393673419952, 0.9008272886276245, -0.7490720152854919, 0.36213910579681396, 1.4124852418899536, -1.0338996648788452, -0.2507959008216858, -0.0658072754740715, 1.2311451435089111, -0.2285604029893875, 0.22699160873889923, -0.1073281392455101, 0.5872614979743958, 1.2375373840332031, 0.0599118247628212, 0.10258898884057999, 0.48609498143196106, 1.4860974550247192, 0.16335587203502655, 1.3670021295547485, 1.0531238317489624, 1.388216495513916, 0.1565438210964203, 1.476831078529358, 0.8502719402313232, 0.11861001700162888, 1.4907923936843872, 0.11119341850280762, 1.361815333366394, 1.0975003242492676, 0.5624998211860657, -1.106783390045166, 0.4584159255027771, -0.022376351058483124, 0.005205383989959955, -0.03453831747174263, -0.6829466819763184], "std": [0.04525609314441681, 0.08815080672502518, 0.04113598167896271, 0.12652523815631866, 0.17476245760917664, 0.0512542761862278, 0.03005402721464634, 0.17179709672927856, 0.02198740281164646, 0.13163278996944427, 0.04856424033641815, 0.12649385631084442, 0.15820716321468353, 0.04107990115880966, 0.06669057905673981, 0.012605959549546242, 0.20723895728588104, 0.03415921330451965, 0.0008933305507525802, 0.041806966066360474, 0.16392368078231812, 0.026117688044905663, 0.0, 0.056383125483989716, 0.010312885046005249, 0.10312879085540771, 0.019867392256855965, 0.03371068835258484, 0.02889562025666237, 0.2376381903886795, 0.16789232194423676, 0.20402632653713226, 0.16553251445293427, 0.4265114963054657, 0.16810454428195953, 0.1613909751176834, 0.17325520515441895, 0.06297525763511658, 0.23497511446475983, 0.18529601395130157, 0.09054055064916611, 0.21916796267032623, 0.03228229656815529, 0.015115049667656422, 0.07104912400245667, 0.21163763105869293, 0.02749418467283249, 0.6160697937011719, 0.23677805066108704, 0.31823670864105225, 0.031770288944244385, 0.5878888964653015, 0.15126949548721313, 0.03236114978790283, 0.22521235048770905, 0.03758793696761131, 0.6448304653167725, 0.5114712715148926, 2.3974638679646887e-05, 2.2553633243660443e-05, 0.011598650366067886, 0.003955702763050795, 0.0053299772553145885, 0.043430984020233154, 0.07350553572177887], "count": [1526]}, "observation.state.tcp_pose": {"min": [0.33669736981391907, 0.1400807946920395, 1.0419994592666626, -1.322743535041809, 1.1199935674667358, -1.5751712322235107, 0.26826211810112, -0.3281611502170563, 0.9953154921531677, -0.25604405999183655, 0.9513211846351624, 0.1822134405374527], "max": [0.42263317108154297, 0.26054441928863525, 1.148707628250122, -0.40710344910621643, 1.4294347763061523, -1.2289981842041016, 0.4272972345352173, -0.09944898635149002, 1.2735594511032104, 1.2088873386383057, 2.0264220237731934, 1.5847580432891846], "mean": [0.39368802309036255, 0.1785522699356079, 1.0923677682876587, -0.5967954993247986, 1.2561562061309814, -1.3619295358657837, 0.36893224716186523, -0.21536016464233398, 1.1229219436645508, 0.46532317996025085, 1.57207190990448, 0.9057069420814514], "std": [0.021748483180999756, 0.02185252495110035, 0.01984182372689247, 0.20637546479701996, 0.05433877557516098, 0.05512930080294609, 0.051153525710105896, 0.0659482553601265, 0.08287306129932404, 0.4256918430328369, 0.2756475508213043, 0.4049686789512634], "count": [1526]}, "action.tcp_pose": {"min": [0.33689677715301514, 0.1403881162405014, 1.0419137477874756, -1.321723461151123, 1.1144018173217773, -1.5760612487792969, 0.2682863473892212, -0.32835501432418823, 0.9950038194656372, -0.2568713426589966, 0.9536527395248413, 0.18222568929195404], "max": [0.42280298471450806, 0.2607117295265198, 1.1491235494613647, -0.4069156348705292, 1.4304770231246948, -1.2289544343948364, 0.4275258481502533, -0.0995992124080658, 1.2757868766784668, 1.2074590921401978, 2.0263781547546387, 1.5944671630859375], "mean": [0.3937051296234131, 0.17859014868736267, 1.092394471168518, -0.5966157913208008, 1.2561532258987427, -1.3619177341461182, 0.36886224150657654, -0.21549303829669952, 1.1229424476623535, 0.4665285050868988, 1.5721932649612427, 0.9061467051506042], "std": [0.021817076951265335, 0.02187744528055191, 0.019847847521305084, 0.2061825394630432, 0.05439683422446251, 0.0550960972905159, 0.05125198885798454, 0.06628037989139557, 0.08304502815008163, 0.4256244897842407, 0.2760559320449829, 0.4050021767616272], "count": [1526]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.068807339449542], "std": [6.935377388520709], "count": [1526]}, "observation.tactile": {"min": [-5.249176025390625, -0.00146484375, -0.0023193359375, -0.062058448791503906, -0.007828712463378906, -0.12240767478942871, -0.020803451538085938, -0.00494384765625, -0.00299072265625, -0.10615062713623047, -0.012814521789550781, -0.003557920455932617, -0.13566017150878906, -0.01715087890625, -0.00653076171875, -0.07234477996826172, -0.014340877532958984, -0.003285646438598633, -0.015716552734375, -0.007965087890625, -0.0059814453125, -0.000240325927734375, -0.0008115768432617188, -0.0004520416259765625, -0.0105743408203125, -0.0033416748046875, -0.002197265625, -0.00020599365234375, -0.00113677978515625, -0.00032699108123779297, -0.00521087646484375, -0.002288818359375, -0.0084228515625, -0.2932767868041992, -0.02124500274658203, -0.000978231430053711, -6.427257537841797, -0.00732421875, -0.00482177734375, -0.20377635955810547, -0.021135807037353516, -0.12003898620605469, -0.018545150756835938, -0.005035400390625, -0.00836181640625, -0.000217437744140625, -0.0013251304626464844, -0.0005877017974853516, -0.001079559326171875, -0.00433349609375, -0.01446533203125, -0.04423236846923828, -0.004565238952636719, -0.0004868507385253906, -0.7927474975585938, -0.01861572265625, -0.03485107421875, -0.0001010894775390625, -0.0046710968017578125, -0.013397932052612305], "max": [0.247528076171875, 2.301177978515625, 2.6759033203125, 0.0003032684326171875, 0.0024137496948242188, 0.010381937026977539, 4.709161758422852, 3.050384521484375, 6.1446533203125, 0.0021295547485351562, 0.004187583923339844, 0.08242154121398926, 2.901327133178711, 1.436004638671875, 3.573974609375, 0.0012912750244140625, 0.005594730377197266, 0.05713534355163574, 0.011524200439453125, 0.004791259765625, 0.0050048828125, 0.0009098052978515625, 0.00017309188842773438, 0.0, 0.0467529296875, 0.0118865966796875, 0.0152587890625, 0.001220703125, 0.0003428459167480469, 0.0003228187561035156, 9.039756774902344, 12.96942138671875, 13.0718994140625, 0.0019960403442382812, 0.03652477264404297, 0.16431355476379395, 1.9692268371582031, 8.055206298828125, 8.9111328125, 0.001068115234375, 0.025083065032958984, 0.04527473449707031, 0.027414321899414062, 0.00537109375, 0.00421142578125, 0.0015716552734375, 0.00012159347534179688, 0.0, 2.3437347412109375, 0.8531494140625, 2.80316162109375, 0.0020856857299804688, 0.015282630920410156, 0.04469442367553711, 0.005496978759765625, 0.0099945068359375, 0.018310546875, 0.004393577575683594, 0.000125885009765625, 4.100799560546875e-05], "mean": [-0.9618015289306641, 0.7921149730682373, 0.6675790548324585, -0.014267610386013985, -0.0005543505540117621, -0.021740717813372612, 0.5131424069404602, 0.21847768127918243, 0.9858988523483276, -0.01894606277346611, 0.0005165199399925768, 0.007984054274857044, 0.15769711136817932, 0.1771625429391861, 0.31005606055259705, -0.0055554392747581005, 4.3521700717974454e-05, 0.002508690347895026, -0.00021986629872117192, -0.0011683772318065166, 8.403333049500361e-05, 0.00015785246796440333, -5.3253897931426764e-05, -0.0001673208607826382, 0.005545562598854303, 0.0036118433345109224, 0.0031848272774368525, 0.0005915355286560953, -0.0005648023798130453, -0.0001735926343826577, 2.2061357498168945, 3.0072317123413086, 3.220614433288574, -0.07679183781147003, 0.0012090924428775907, 0.04247942566871643, -0.8829908967018127, 1.907717227935791, 2.2496728897094727, -0.047965504229068756, -0.0014833915047347546, -0.017782213166356087, 0.009333770722150803, 0.0006857455591671169, -0.002432007109746337, 0.0008362773805856705, -0.0007843802450224757, -0.0003629680722951889, 0.14467771351337433, 0.04865564778447151, 0.08200924843549728, -0.0002187185746151954, -0.00016285988385789096, 0.0018844030564650893, -0.06250519305467606, 0.001628690748475492, -0.0008468927699141204, 0.0007478456245735288, -0.00046806910540908575, -0.0010678129037842155], "std": [0.6081945896148682, 0.47629663348197937, 0.36967986822128296, 0.008643635548651218, 0.0014779682969674468, 0.014818963594734669, 0.44854456186294556, 0.24099278450012207, 0.6354385614395142, 0.011657149530947208, 0.001980182947590947, 0.00793601293116808, 0.2681928277015686, 0.17400510609149933, 0.4570968449115753, 0.009089367464184761, 0.0018659397028386593, 0.005143065005540848, 0.0036594162229448557, 0.0017706111539155245, 0.001566627062857151, 0.00011702743358910084, 9.138709719991311e-05, 5.5548734962940216e-05, 0.0035634194500744343, 0.0014133844524621964, 0.001324654440395534, 0.00015734195767436177, 0.000132619752548635, 5.1141174481017515e-05, 2.7833707332611084, 4.113635063171387, 4.318782806396484, 0.10506691783666611, 0.007740506436675787, 0.053102537989616394, 1.791123390197754, 2.5175890922546387, 2.9115545749664307, 0.06390684843063354, 0.004831118509173393, 0.03663516789674759, 0.0049165585078299046, 0.0011492836056277156, 0.0018974319100379944, 0.0002847340365406126, 0.00026377561152912676, 9.042838064488024e-05, 0.34964317083358765, 0.13364937901496887, 0.33165547251701355, 0.00523513276129961, 0.0019070060225203633, 0.0064605227671563625, 0.1734512597322464, 0.0028413538821041584, 0.005972664803266525, 0.0008938994724303484, 0.0008345975074917078, 0.0030312531162053347], "count": [1526]}, "timestamp": {"min": [0.0], "max": [50.833333333333336], "mean": [25.416666666666664], "std": [14.683938693537083], "count": [1526]}, "frame_index": {"min": [0], "max": [1525], "mean": [762.5], "std": [440.5181608061125], "count": [1526]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [1526]}, "index": {"min": [16038], "max": [17563], "mean": [16800.5], "std": [440.5181608061125], "count": [1526]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1526]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.32619088888168335]], [[0.32548147439956665]], [[0.32518768310546875]]], "std": [[[0.20005448162555695]], [[0.20006678998470306]], [[0.19994142651557922]]], "count": [1526]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3051692545413971]], [[0.3072393834590912]], [[0.305585652589798]]], "std": [[[0.17218612134456635]], [[0.1744278222322464]], [[0.17322026193141937]]], "count": [1526]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30880481004714966]], [[0.30779439210891724]], [[0.3059091567993164]]], "std": [[[0.17356011271476746]], [[0.17418959736824036]], [[0.17239966988563538]]], "count": [1526]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3223501741886139]], [[0.32165542244911194]], [[0.32152456045150757]]], "std": [[[0.19931694865226746]], [[0.19932827353477478]], [[0.1992696076631546]]], "count": [1526]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7803921699523926]], [[0.7803921699523926]], [[0.7803921699523926]]], "mean": [[[0.004598164465278387]], [[0.004598164465278387]], [[0.004598164465278387]]], "std": [[[0.04606851562857628]], [[0.04606851562857628]], [[0.04606851562857628]]], "count": [1526]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.9686274528503418]], [[0.9686274528503418]], [[0.9686274528503418]]], "mean": [[[0.47480589151382446]], [[0.47480589151382446]], [[0.47480589151382446]]], "std": [[[0.15189726650714874]], [[0.15189726650714874]], [[0.15189726650714874]]], "count": [1526]}}}
+{"episode_index": 11, "stats": {"observation.state": {"min": [0.6764692068099976, -0.857268214225769, 1.1984224101979635e-07, 1.0649816989898682, -0.808525800704956, -0.7699999213218689, 0.34125128388404846, 0.007541458588093519, -0.19338296353816986, -0.1423085778951645, -0.31748196482658386, 0.0025719990953803062, 0.0031844235491007566, -6.54988398309797e-05, 0.0034289774484932423, 0.0008473811321891844, 0.0036738254129886627, -0.0005441069370135665, 0.0036310784053057432, 0.0008730996632948518, 0.003350010374560952, -0.032148417085409164, 0.0030510134529322386, 0.000872656237334013, 0.00576810771599412, 0.0032349582761526108, -0.027829891070723534, 0.0065459394827485085, 0.000846050854306668, 0.3397845923900604, -1.0214890241622925, 0.000353774317773059, 1.0848363637924194, -1.8379995822906494, -0.7695775032043457, -0.4457060396671295, 0.00657158438116312, -0.31977954506874084, -0.08734490722417831, -0.3112247884273529, 0.004097683355212212, 0.004488268401473761, 6.819742702646181e-05, 0.003489253344014287, 0.0015714907785877585, 0.004552050027996302, 0.0002512017672415823, 0.003357710549607873, 0.0018814433133229613, 0.0033215542789548635, -0.00017368252156302333, 0.0035094632767140865, 0.0018060614820569754, 0.010551494546234608, 0.004708315245807171, -0.0001430181582691148, 0.006796615663915873, 0.0008376258774660528, 0.5615328550338745, -1.1072465181350708, 0.430856853723526, -0.03413107246160507, -0.013038836419582367, -0.15215171873569489, -0.8169406652450562], "max": [1.049999475479126, -0.49321502447128296, 0.344522625207901, 1.6481000185012817, -0.0, -0.3349134027957916, 0.5374257564544678, 1.2542061805725098, -2.2404046831070445e-05, 0.43583816289901733, -0.0024508857168257236, 0.9623042345046997, 1.1271159648895264, 0.19321022927761078, 0.21185699105262756, 0.08793076127767563, 1.2560011148452759, 0.17446307837963104, 0.0036995091941207647, 0.11573204398155212, 1.1236852407455444, 0.08582314848899841, 0.03413943946361542, 0.3553493618965149, 0.06971714645624161, 0.7860126495361328, 0.12556210160255432, 0.1421942561864853, 0.12406040728092194, 1.2538297176361084, -0.39459937810897827, 0.7793259024620056, 1.850823163986206, -0.0006487061036750674, 0.0864509642124176, 0.5194418430328369, 1.3365365266799927, 0.0010829780949279666, 0.5041720271110535, 0.3146888017654419, 0.6453661322593689, 1.4609692096710205, 0.1297689825296402, 0.1079888641834259, 0.5171676874160767, 1.4666661024093628, 0.21358847618103027, 1.6533756256103516, 1.2802975177764893, 1.4672504663467407, 0.2605985105037689, 1.6558305025100708, 0.9658730626106262, 0.13911211490631104, 1.4666602611541748, 0.23546311259269714, 1.6534298658370972, 1.30811607837677, 0.5629709362983704, -1.1065753698349, 0.5441796779632568, 0.0, 0.006135923322290182, 0.06030461937189102, -0.5622039437294006], "mean": [0.9443241357803345, -0.5742566585540771, 0.19950057566165924, 1.1813591718673706, -0.6604607105255127, -0.47496524453163147, 0.47052839398384094, 1.2156919240951538, -0.15479321777820587, 0.34634897112846375, -0.3083924949169159, 0.831074059009552, 1.0850809812545776, 0.1639845222234726, 0.16432173550128937, 0.08493858575820923, 1.1866779327392578, 0.1416614055633545, 0.0036627445369958878, 0.10639586299657822, 1.0596407651901245, 0.046062685549259186, 0.003994183614850044, 0.34160858392715454, 0.05247950181365013, 0.7187015414237976, 0.05421998351812363, 0.1170310527086258, 0.10070398449897766, 0.9022749066352844, -0.7046278119087219, 0.3812923729419708, 1.3946056365966797, -1.1498428583145142, -0.21793384850025177, -0.12919551134109497, 1.2468883991241455, -0.23194026947021484, 0.23879636824131012, -0.10033688694238663, 0.5809162259101868, 1.2321337461471558, 0.0648890808224678, 0.09870471805334091, 0.46733561158180237, 1.424424409866333, 0.16191013157367706, 1.4189735651016235, 1.1482374668121338, 1.3259010314941406, 0.1634000986814499, 1.5323617458343506, 0.8614447116851807, 0.1106358990073204, 1.4225257635116577, 0.1194215640425682, 1.4128538370132446, 1.1217082738876343, 0.5624979734420776, -1.1067826747894287, 0.4436551332473755, -0.02461402676999569, -0.0017024814151227474, -0.023690417408943176, -0.6930538415908813], "std": [0.06225809454917908, 0.09405692666769028, 0.044393520802259445, 0.1444057822227478, 0.1801661103963852, 0.04607626795768738, 0.03957609459757805, 0.14880794286727905, 0.020342877134680748, 0.1458101123571396, 0.03723761811852455, 0.10099560022354126, 0.140308678150177, 0.031207241117954254, 0.055863894522190094, 0.01053399033844471, 0.18575850129127502, 0.02342160977423191, 8.726611667952966e-06, 0.024216430261731148, 0.15872544050216675, 0.016266608610749245, 0.004572788719087839, 0.047367583960294724, 0.008573806844651699, 0.09790770709514618, 0.029097862541675568, 0.03898836299777031, 0.034029729664325714, 0.24064674973487854, 0.17566731572151184, 0.171766996383667, 0.1951475441455841, 0.45698434114456177, 0.17828746140003204, 0.16713863611221313, 0.15177203714847565, 0.06021535396575928, 0.1907995641231537, 0.17770373821258545, 0.07152196019887924, 0.18266402184963226, 0.026426149532198906, 0.01273229531943798, 0.06508747488260269, 0.16289673745632172, 0.02224118262529373, 0.5401058197021484, 0.19472885131835938, 0.3008725643157959, 0.024859994649887085, 0.311373770236969, 0.1491698920726776, 0.02629103697836399, 0.16749107837677002, 0.027233174070715904, 0.5537455677986145, 0.43565496802330017, 7.645345613127574e-05, 4.5059758122079074e-05, 0.0121543500572443, 0.00541932275518775, 0.004581973422318697, 0.049305371940135956, 0.08377815783023834], "count": [1645]}, "observation.state.joint_torque": {"min": [-48.71549987792969, -6.1605000495910645, -22.38599967956543, -10.395999908447266, -0.29760000109672546, -0.8008000254631042, 0.7616000175476074, -0.8736398220062256, -0.6253020167350769, -0.8375727534294128, -0.7530698776245117, -0.3718973398208618, -0.4547860622406006, -0.5823948383331299, -0.25069868564605713, -0.04066966846585274, -0.6351653337478638, -0.36843428015708923, -0.0016602561809122562, -0.021405089646577835, -0.6294085383415222, -1.0055185556411743, -0.06641025096178055, -0.027113113552331924, -0.07124777138233185, -0.3195015788078308, -0.3511638939380646, -0.10293588042259216, -0.02996712550520897, 17.017499923706055, -15.963000297546387, 7.938000202178955, -13.447999954223633, -1.9631999731063843, -1.2583999633789062, -2.6152000427246094, -1.5053094625473022, -1.0086338520050049, -0.6238301992416382, -0.7418856620788574, -0.14444229006767273, -0.4922051429748535, -1.1945329904556274, -0.10293588042259216, -0.020691584795713425, -0.6332463622093201, -0.4288805425167084, -0.7753396034240723, -0.03567514568567276, -0.6169354915618896, -0.5104349851608276, -0.5495447516441345, -0.028540121391415596, -0.06421096622943878, -0.5641649961471558, -1.1091406345367432, -0.4333268404006958, -0.0763448178768158, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-17.48550033569336, 9.84000015258789, -7.626999855041504, 0.5659999847412109, 1.8711999654769897, 1.6031999588012695, 3.653599977493286, 1.030283808708191, 0.8596310615539551, 1.01527738571167, 0.9233183264732361, 0.08965382725000381, 0.4048939049243927, 0.33677196502685547, 0.1328205019235611, 0.03424813970923424, 0.7032873034477234, 0.7512604594230652, 0.0016602561809122562, 0.02996712550520897, 0.5833542346954346, 0.2887987494468689, 0.07305127382278442, 0.02354559674859047, 0.06113235652446747, 0.4212047755718231, 0.4375156760215759, 0.09629485011100769, 0.015697065740823746, 44.78099822998047, 17.428499221801758, 22.82699966430664, 0.3190000057220459, 0.18400000035762787, 3.2416000366210938, 1.1175999641418457, 1.4225302934646606, 3.196553945541382, 1.40299654006958, 1.195467472076416, 0.4067627489566803, 2.1396052837371826, 0.6111787557601929, 1.0559228658676147, 0.21476440131664276, 1.531304955482483, 0.4192858636379242, 0.10127562284469604, 0.03068062849342823, 0.8107472658157349, 1.272249698638916, 0.508038341999054, 0.03139413148164749, 0.49169760942459106, 0.5027592778205872, 0.4029749929904938, 0.5628268122673035, 0.038529157638549805, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-31.471437454223633, 1.0767760276794434, -14.214898109436035, -5.637924671173096, 0.170033797621727, 0.7540323138237, 1.7766088247299194, -0.008672410622239113, 0.019769515842199326, 0.08100233227014542, -0.0016045416705310345, -0.0012151655973866582, 0.023492485284805298, 0.025914348661899567, 0.0025141017977148294, 0.008585465140640736, -0.022335415706038475, 0.1610676348209381, -1.009274228636059e-06, 0.002497907495126128, 0.002629975089803338, -0.09654678404331207, -0.0006762128905393183, 0.0007915744208730757, 0.0009151611593551934, 0.02219426818192005, 0.043400514870882034, 0.0015139231691136956, 0.0008284448413178325, 28.662174224853516, 4.352258682250977, 14.616247177124023, -5.9033613204956055, -0.6280317306518555, 1.2074555158615112, -1.1044059991836548, 0.016062762588262558, 0.43994519114494324, 0.13697969913482666, 0.05561816692352295, 0.04543650150299072, 0.30651983618736267, -0.14725486934185028, 0.15948623418807983, 0.041733287274837494, 0.00971419457346201, 0.002234466839581728, 0.000878071179613471, 0.0005300314514897764, -0.020911043509840965, 0.141831636428833, 0.0026241156738251448, 0.00022250977053772658, 0.2711328864097595, -0.007932938635349274, -0.16997236013412476, 0.0027028408367186785, 0.0005096442182548344, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.1140193939208984, 1.605155110359192, 0.8944198489189148, 0.903327226638794, 0.30103975534439087, 0.4115343391895294, 0.2827340066432953, 0.17714481055736542, 0.13384732604026794, 0.21296484768390656, 0.13998600840568542, 0.02267504669725895, 0.08000563830137253, 0.08649567514657974, 0.040717557072639465, 0.00830621737986803, 0.21426823735237122, 0.16326498985290527, 7.08934894646518e-05, 0.005941685754805803, 0.15903782844543457, 0.15955296158790588, 0.006840602494776249, 0.007630105130374432, 0.0073258159682154655, 0.08548353612422943, 0.07469876855611801, 0.01741393841803074, 0.007322420831769705, 4.578446865081787, 3.399801254272461, 1.490422248840332, 2.2124111652374268, 0.29712212085723877, 0.6890982389450073, 0.7189363837242126, 0.42031633853912354, 0.7869360446929932, 0.31824228167533875, 0.3284587264060974, 0.081609345972538, 0.5519641637802124, 0.30519428849220276, 0.2553907036781311, 0.0662117749452591, 0.0735599473118782, 0.059278883039951324, 0.026464421302080154, 0.0053261215798556805, 0.13451270759105682, 0.21617932617664337, 0.024819351732730865, 0.0076386937871575356, 0.18874061107635498, 0.11603143811225891, 0.25451910495758057, 0.027617711573839188, 0.0050590005703270435, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1645]}, "observation.state.tcp": {"min": [0.32490450143814087, 0.1493528038263321, 1.0126217603683472, -1.2088561058044434, 1.0955021381378174, -1.555363655090332, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.263437420129776, -0.31126901507377625, 0.9989109635353088, -0.29517748951911926, 1.1271181106567383, 0.16377407312393188, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4296383857727051, 0.24476127326488495, 1.1502748727798462, -0.34138819575309753, 1.4070110321044922, -1.2289537191390991, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.446239709854126, -0.0700179934501648, 1.292203664779663, 1.208572268486023, 2.086855888366699, 1.6791412830352783, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3913760483264923, 0.1752965897321701, 1.0861650705337524, -0.5697231292724609, 1.2065340280532837, -1.3156025409698486, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3664042353630066, -0.199341282248497, 1.1345288753509521, 0.37898191809654236, 1.582502007484436, 0.8332131505012512, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.022836245596408844, 0.01894311048090458, 0.022648584097623825, 0.20736688375473022, 0.04225367680191994, 0.07047072798013687, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05700951814651489, 0.07243306189775467, 0.08542317152023315, 0.4529275894165039, 0.2585459053516388, 0.41211724281311035, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1645]}, "action": {"min": [0.6764047741889954, -0.8573070168495178, -1.3370464703245884e-18, 1.0649824142456055, -0.8085160851478577, -0.7699999809265137, 0.3409746289253235, 0.0, -0.19288736581802368, -0.14523817598819733, -0.3490658402442932, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.03153187781572342, 0.0, 0.0, 0.0, 0.0, -0.024724788963794708, 0.0, 0.0, 0.3397340178489685, -1.0215508937835693, 0.00040667480789124966, 1.0848286151885986, -1.8381110429763794, -0.7695106267929077, -0.4457624554634094, 0.0, -0.3452308773994446, -0.09094801545143127, -0.3231799006462097, 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, 0.5624915957450867, -1.1069231033325195, 0.4300695061683655, -0.034456778317689896, -0.013865271583199501, -0.15227271616458893, -0.8173480033874512], "max": [1.0499999523162842, -0.49320632219314575, 0.3445757031440735, 1.6482396125793457, -7.404292186309163e-18, -0.3339105248451233, 0.538331925868988, 1.2610280513763428, 0.0, 0.4431297183036804, 0.0, 0.9698212742805481, 1.1344585418701172, 0.19846957921981812, 0.21677269041538239, 0.09077325463294983, 1.262873649597168, 0.17430919408798218, 0.0, 0.11927657574415207, 1.1295911073684692, 0.08696811646223068, 0.0405893549323082, 0.36014994978904724, 0.07976701110601425, 0.7976701259613037, 0.13183706998825073, 0.14764556288719177, 0.12655334174633026, 1.2542017698287964, -0.3945411145687103, 0.7796288728713989, 1.8513129949569702, -0.0007383943884633482, 0.08650057762861252, 0.5193535685539246, 1.3370561599731445, 0.0, 0.5115229487419128, 0.3490658402442932, 0.6506953239440918, 1.5314528942108154, 0.1276187300682068, 0.11422677338123322, 0.5188688635826111, 1.5707963705062866, 0.21419280767440796, 1.7453292608261108, 1.2816410064697266, 1.5707963705062866, 0.26184195280075073, 1.7453292608261108, 0.9692838191986084, 0.15705086290836334, 1.5707963705062866, 0.23844903707504272, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106767177581787, 0.5442397594451904, 6.492698309232982e-19, 0.006787530146539211, 0.06235181540250778, -0.5615793466567993], "mean": [0.9442458748817444, -0.5743470788002014, 0.19953317940235138, 1.181398630142212, -0.6605066061019897, -0.4749391973018646, 0.47055482864379883, 1.2137200832366943, -0.1552232801914215, 0.35104164481163025, -0.341418981552124, 0.8298788070678711, 1.0852091312408447, 0.1657206267118454, 0.16644982993602753, 0.08783046901226044, 1.1879647970199585, 0.14521105587482452, 0.0, 0.10960809141397476, 1.0598770380020142, 0.04662277549505234, 0.0010045144008472562, 0.34408679604530334, 0.0722355991601944, 0.7223548293113708, 0.05775313079357147, 0.12055175006389618, 0.10332107543945312, 0.9026176333427429, -0.7051005363464355, 0.3811686933040619, 1.3948752880096436, -1.1480945348739624, -0.21822603046894073, -0.1292528659105301, 1.248956561088562, -0.23321542143821716, 0.24001500010490417, -0.10029557347297668, 0.5836698412895203, 1.238882064819336, 0.06417365372180939, 0.1024119108915329, 0.470884770154953, 1.5146788358688354, 0.16572198271751404, 1.488940954208374, 1.151299238204956, 1.4050049781799316, 0.16499845683574677, 1.6092514991760254, 0.8638500571250916, 0.1301327496767044, 1.5154486894607544, 0.11935164034366608, 1.4826215505599976, 1.195378065109253, 0.5625004172325134, -1.1067854166030884, 0.4437117576599121, -0.024658115580677986, -0.0017000663792714477, -0.02370639145374298, -0.6930951476097107], "std": [0.06263583898544312, 0.0942012220621109, 0.044478874653577805, 0.14462248980998993, 0.1801939159631729, 0.0461200550198555, 0.03957522287964821, 0.16000035405158997, 0.02286907471716404, 0.1481046825647354, 0.04693039506673813, 0.11622830480337143, 0.15281930565834045, 0.032601248472929, 0.05764470249414444, 0.01201639324426651, 0.19292742013931274, 0.02559627965092659, 0.0, 0.024444080889225006, 0.1660481095314026, 0.016912292689085007, 0.005632154177874327, 0.05064411461353302, 0.010651172138750553, 0.10651170462369919, 0.02927386574447155, 0.03980391472578049, 0.03412118926644325, 0.24137456715106964, 0.17593684792518616, 0.17161506414413452, 0.19532626867294312, 0.45716893672943115, 0.1784025877714157, 0.1671159863471985, 0.16588373482227325, 0.06843055784702301, 0.1911134272813797, 0.1822776347398758, 0.08179859071969986, 0.19719991087913513, 0.025718793272972107, 0.014445106498897076, 0.07177653908729553, 0.19974587857723236, 0.025247080251574516, 0.5695528984069824, 0.20091044902801514, 0.33979132771492004, 0.0270317904651165, 0.3434993326663971, 0.15383237600326538, 0.031069600954651833, 0.2038867175579071, 0.028850816190242767, 0.5830345749855042, 0.46647003293037415, 2.5205568817909807e-05, 2.3370290364255197e-05, 0.012757853604853153, 0.005481251049786806, 0.004624566063284874, 0.049358464777469635, 0.08385437726974487], "count": [1645]}, "observation.state.tcp_pose": {"min": [0.32490450143814087, 0.1493528038263321, 1.0126217603683472, -1.2088561058044434, 1.0955021381378174, -1.555363655090332, 0.263437420129776, -0.31126901507377625, 0.9989109635353088, -0.29517748951911926, 1.1271181106567383, 0.16377407312393188], "max": [0.4296383857727051, 0.24476127326488495, 1.1502748727798462, -0.34138819575309753, 1.4070110321044922, -1.2289537191390991, 0.446239709854126, -0.0700179934501648, 1.292203664779663, 1.208572268486023, 2.086855888366699, 1.6791412830352783], "mean": [0.3913760483264923, 0.1752965897321701, 1.0861650705337524, -0.5697231292724609, 1.2065340280532837, -1.3156025409698486, 0.3664042353630066, -0.199341282248497, 1.1345288753509521, 0.37898191809654236, 1.582502007484436, 0.8332131505012512], "std": [0.022836245596408844, 0.01894311048090458, 0.022648584097623825, 0.20736688375473022, 0.04225367680191994, 0.07047072798013687, 0.05700951814651489, 0.07243306189775467, 0.08542317152023315, 0.4529275894165039, 0.2585459053516388, 0.41211724281311035], "count": [1645]}, "action.tcp_pose": {"min": [0.3250683844089508, 0.1497628092765808, 1.0122148990631104, -1.208855390548706, 1.0922850370407104, -1.5563764572143555, 0.26298215985298157, -0.3115136921405792, 0.999065637588501, -0.29511454701423645, 1.1249732971191406, 0.16353683173656464], "max": [0.4298780560493469, 0.2458401471376419, 1.1505471467971802, -0.34191426634788513, 1.407245397567749, -1.2289544343948364, 0.44619020819664, -0.06976906955242157, 1.2913779020309448, 1.2084786891937256, 2.0868618488311768, 1.6895167827606201], "mean": [0.3913609981536865, 0.1753382682800293, 1.0861034393310547, -0.5697841644287109, 1.2065688371658325, -1.31558358669281, 0.3663842976093292, -0.1994830071926117, 1.1346646547317505, 0.3804429769515991, 1.582444429397583, 0.8336305022239685], "std": [0.02297302708029747, 0.019031869247555733, 0.022843800485134125, 0.2074618935585022, 0.04240138828754425, 0.07036247104406357, 0.057084083557128906, 0.07266011834144592, 0.08548279851675034, 0.45328354835510254, 0.25786662101745605, 0.41184988617897034], "count": [1645]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.864437689969606], "std": [6.826676157441443], "count": [1645]}, "observation.tactile": {"min": [-4.065757751464844, -0.002288818359375, -0.00018310546875, -0.04026508331298828, -0.009696006774902344, -0.09695887565612793, -0.9344367980957031, -0.006256103515625, -0.00628662109375, -0.06429576873779297, -0.009703636169433594, -0.022583723068237305, -0.09097099304199219, -0.017364501953125, -0.0030517578125, -0.043694496154785156, -0.013020515441894531, -0.0019152164459228516, -0.01375579833984375, -0.00958251953125, -0.00433349609375, -0.0003871917724609375, -0.0007534027099609375, -0.0003879070281982422, -0.0014591217041015625, -0.006439208984375, -0.00469970703125, -0.00023651123046875, -0.0012712478637695312, -0.00036644935607910156, -0.19441604614257812, -0.020599365234375, -0.00177001953125, -0.2849702835083008, -0.0314788818359375, -0.009805917739868164, -5.419513702392578, -0.011199951171875, -0.0018310546875, -0.19271183013916016, -0.01651906967163086, -0.1067953109741211, -0.020620346069335938, -0.00701904296875, -0.00616455078125, -0.00028705596923828125, -0.0012073516845703125, -0.0006005764007568359, -0.00359344482421875, -0.009368896484375, -0.01812744140625, -0.010699272155761719, -0.004641532897949219, -0.0009508132934570312, -0.020620346069335938, -0.00323486328125, -0.00518798828125, -0.0001430511474609375, -0.0005621910095214844, -0.00022935867309570312], "max": [0.5201797485351562, 1.7374267578125, 1.4326171875, 0.00102996826171875, 0.001567840576171875, 0.01688694953918457, 2.877086639404297, 1.000152587890625, 3.95648193359375, 0.0021142959594726562, 0.007397651672363281, 0.051406145095825195, 1.8298664093017578, 0.77203369140625, 2.45343017578125, 0.0019445419311523438, 0.0027761459350585938, 0.03895068168640137, 0.010501861572265625, 0.0062408447265625, 0.006103515625, 0.00077056884765625, 0.00019931793212890625, 0.0, 0.03951072692871094, 0.023223876953125, 0.00457763671875, 0.0017194747924804688, 0.00013303756713867188, 0.0003199577331542969, 6.899456024169922, 14.062957763671875, 12.0631103515625, 0.001377105712890625, 0.018829345703125, 0.14562773704528809, 0.8246269226074219, 6.08331298828125, 7.9532470703125, 0.0014781951904296875, 0.004675388336181641, 0.020051002502441406, 0.031198501586914062, 0.0080718994140625, 0.00958251953125, 0.00128936767578125, 0.000225067138671875, 0.0, 1.1078987121582031, 0.383453369140625, 0.71209716796875, 0.0017404556274414062, 0.005814552307128906, 0.017273902893066406, 0.0059642791748046875, 0.005462646484375, 0.00830078125, 0.00080108642578125, 0.00014972686767578125, 0.00011491775512695312], "mean": [-0.81151282787323, 0.7724512815475464, 0.510408878326416, -0.012126793153584003, -0.002630281960591674, -0.018189694732427597, 0.4901522994041443, 0.13735491037368774, 0.9278473258018494, -0.016207216307520866, -0.0005226111970841885, 0.006341908592730761, 0.11815913766622543, 0.11193257570266724, 0.2095905840396881, -0.0039028578903526068, -0.0005283226491883397, 0.0019809803925454617, 0.0022388549987226725, -0.0034268272574990988, 0.0008088178583420813, -2.034891650737336e-07, -1.627536585147027e-05, -0.00020766627858392894, 0.0013349584769457579, -0.0005712909041903913, -0.0007824001950211823, 0.000210629848879762, -0.00018770861788652837, -0.0001257547119166702, 1.506333589553833, 2.708246946334839, 2.8102540969848633, -0.06519931554794312, -0.0014854682376608253, 0.028597798198461533, -0.8607988953590393, 1.3586984872817993, 1.8619489669799805, -0.03896104916930199, -0.0022684435825794935, -0.017685431987047195, 0.006500579416751862, -0.00111301033757627, -0.001041308045387268, 0.0004980249796062708, -0.00041579213575460017, -0.00027046972536481917, 0.06697342544794083, 0.009550035931169987, 0.024284720420837402, 0.0006683546816930175, -0.0005660319584421813, 0.0006444833124987781, -0.0027155380230396986, 0.0006313335616141558, 0.0016810825327411294, 0.0002811246376950294, -7.166760769905522e-05, -3.505753193167038e-05], "std": [0.4960080683231354, 0.42127883434295654, 0.2823101282119751, 0.0071643958799541, 0.0022453716956079006, 0.01240514125674963, 0.3604182302951813, 0.12074759602546692, 0.4991430938243866, 0.008697670884430408, 0.0020127531606703997, 0.0061043924652040005, 0.2078917771577835, 0.1070670560002327, 0.3044535219669342, 0.005999153479933739, 0.001347864861600101, 0.0041718692518770695, 0.0037945976946502924, 0.0022167812567204237, 0.001641193637624383, 0.00012263268581591547, 7.693312363699079e-05, 5.1744107622653246e-05, 0.0016694458900019526, 0.001569680985994637, 0.0011300173355266452, 0.0001557160576339811, 0.00014161299623083323, 4.956456905347295e-05, 1.9903483390808105, 3.8402106761932373, 3.7198703289031982, 0.08672544360160828, 0.0061532072722911835, 0.03831211104989052, 1.3002961874008179, 1.7417067289352417, 2.4131267070770264, 0.05319121852517128, 0.003380491863936186, 0.02683977223932743, 0.00660444051027298, 0.0017866326961666346, 0.0018773546908050776, 0.0003102573973592371, 0.00032671770895831287, 0.00013096617476549, 0.15348279476165771, 0.03603237122297287, 0.09315747767686844, 0.001538711367174983, 0.0006310520111583173, 0.0030187522061169147, 0.00407297583296895, 0.0010457298485562205, 0.0019072777358815074, 0.0001332037936663255, 8.327145042130724e-05, 4.588451702147722e-05], "count": [1645]}, "timestamp": {"min": [0.0], "max": [54.8], "mean": [27.4], "std": [15.82901695550857], "count": [1645]}, "frame_index": {"min": [0], "max": [1644], "mean": [822.0], "std": [474.8705086652571], "count": [1645]}, "episode_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [1645]}, "index": {"min": [17564], "max": [19208], "mean": [18386.0], "std": [474.8705086652571], "count": [1645]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1645]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.32122308015823364]], [[0.32050246000289917]], [[0.3203051686286926]]], "std": [[[0.1963534653186798]], [[0.19640082120895386]], [[0.19636180996894836]]], "count": [1645]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3047320246696472]], [[0.30696770548820496]], [[0.3055360019207001]]], "std": [[[0.17238518595695496]], [[0.17468313872814178]], [[0.1737472265958786]]], "count": [1645]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3098486363887787]], [[0.3088633120059967]], [[0.3069933354854584]]], "std": [[[0.17436353862285614]], [[0.175068661570549]], [[0.17336761951446533]]], "count": [1645]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3152562081813812]], [[0.3145725131034851]], [[0.3145580291748047]]], "std": [[[0.1944744735956192]], [[0.1945071965456009]], [[0.19452835619449615]]], "count": [1645]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7411764860153198]], [[0.7411764860153198]], [[0.7411764860153198]]], "mean": [[[0.0038703770842403173]], [[0.0038703770842403173]], [[0.0038703770842403173]]], "std": [[[0.041170235723257065]], [[0.041170235723257065]], [[0.041170235723257065]]], "count": [1645]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[0.9647058844566345]], [[0.9647058844566345]], [[0.9647058844566345]]], "mean": [[[0.47502657771110535]], [[0.47502657771110535]], [[0.47502657771110535]]], "std": [[[0.15184582769870758]], [[0.15184582769870758]], [[0.15184582769870758]]], "count": [1645]}}}
+{"episode_index": 12, "stats": {"observation.state": {"min": [0.7510911226272583, -0.7857791185379028, 0.0011033875634893775, 0.9970911145210266, -0.8752501606941223, -0.7686135172843933, 0.3489803969860077, 0.007431064732372761, -0.20028463006019592, -0.22409185767173767, -0.3174368739128113, 0.002486549550667405, 0.003235694020986557, -0.00013246953312773257, 0.003387139178812504, 0.0008083599386736751, 0.003929933067411184, -0.000751642684917897, 0.0036367513239383698, 0.0008469377062283456, 0.0033102696761488914, -0.03235938027501106, 0.0030222937930375338, 0.0008398429490625858, 0.0063364626839756966, 0.003249186323955655, -0.04989934340119362, 0.006539557594805956, 0.0008331916178576648, 0.3192110061645508, -1.0179781913757324, 0.0016632905462756753, 1.0872570276260376, -1.765424370765686, -0.7683045864105225, -0.39193329215049744, 0.007763691246509552, -0.31849759817123413, -0.15185359120368958, -0.31625083088874817, 0.0033559375442564487, 0.0032047845888882875, 0.00012878995039500296, 0.003496344666928053, 0.0008699956815689802, 0.0032636600080877542, -2.0115818188060075e-05, 0.0033949394710361958, 0.0010008055251091719, 0.003246978623792529, -0.00018741998064797372, 0.003528609871864319, 0.0009648881969042122, 0.010108370333909988, 0.0033774857874959707, -0.00030124574550427496, 0.006780305877327919, 0.0008380693034268916, 0.5615328550338745, -1.1072465181350708, 0.4229952096939087, -0.02895388752222061, -0.009395631961524487, -0.07612379640340805, -0.8023678064346313], "max": [1.049372673034668, -0.46984726190567017, 0.33372458815574646, 1.5683318376541138, -0.0011175289982929826, -0.2972778081893921, 0.5189171433448792, 1.2421514987945557, -0.00018139991152565926, 0.40161702036857605, -0.005146860145032406, 0.9691057801246643, 1.1844173669815063, 0.21495415270328522, 0.21990132331848145, 0.09200625866651535, 1.2905888557434082, 0.18900156021118164, 0.027483230456709862, 0.14251212775707245, 1.0934598445892334, 0.12903626263141632, 0.1252543032169342, 0.3546128273010254, 0.061554670333862305, 0.7539783120155334, 0.17915837466716766, 0.11333850026130676, 0.10093413293361664, 1.2830561399459839, -0.29415759444236755, 0.8685516119003296, 1.8456634283065796, -0.0020645223557949066, 0.15162943303585052, 0.5179207921028137, 1.3251166343688965, -0.00011888521839864552, 0.5278739929199219, 0.313531756401062, 0.6375479698181152, 1.4662809371948242, 0.12318823486566544, 0.10814380645751953, 0.5033391118049622, 1.46673583984375, 0.20611420273780823, 1.6533621549606323, 1.025870442390442, 1.4669872522354126, 0.23414680361747742, 1.6538145542144775, 0.9103484749794006, 0.1369735598564148, 1.4672229290008545, 0.18262344598770142, 1.6533699035644531, 1.3081077337265015, 0.5629709362983704, -1.1065753698349, 0.542453944683075, -0.00028762139845639467, 0.009299758821725845, 0.01284708920866251, -0.5625874400138855], "mean": [0.9438991546630859, -0.5588592886924744, 0.20270831882953644, 1.1559118032455444, -0.7525716423988342, -0.4412461519241333, 0.44836583733558655, 1.2004338502883911, -0.15463010966777802, 0.28972575068473816, -0.30788329243659973, 0.8309605717658997, 1.118914246559143, 0.1801903396844864, 0.1641707420349121, 0.08752648532390594, 1.2042136192321777, 0.15176329016685486, 0.007258163299411535, 0.12568128108978271, 1.0260279178619385, 0.055810414254665375, 0.08718965202569962, 0.3327086567878723, 0.052655674517154694, 0.6929768919944763, 0.04630398750305176, 0.09053994715213776, 0.07823540270328522, 0.83885657787323, -0.6770970821380615, 0.4294326901435852, 1.3667658567428589, -1.1301683187484741, -0.2557794749736786, -0.10551078617572784, 1.2433794736862183, -0.24790771305561066, 0.24090178310871124, -0.1494806706905365, 0.5806093215942383, 1.2267745733261108, 0.07434605807065964, 0.09861604869365692, 0.43673476576805115, 1.3509186506271362, 0.16675078868865967, 1.389399766921997, 0.9404734373092651, 1.2754980325698853, 0.1595441699028015, 1.437961220741272, 0.8231918811798096, 0.10144185274839401, 1.3748993873596191, 0.10614832490682602, 1.3644311428070068, 1.080797553062439, 0.5624973773956299, -1.106781005859375, 0.4357389509677887, -0.023495091125369072, -0.0005458419327624142, -0.025714825838804245, -0.694792628288269], "std": [0.055510036647319794, 0.08526699990034103, 0.04264585301280022, 0.12444989383220673, 0.1921195536851883, 0.05222845822572708, 0.022490618750452995, 0.15462802350521088, 0.021281054243445396, 0.14475828409194946, 0.03778475522994995, 0.10400372743606567, 0.1577499657869339, 0.04539429768919945, 0.060883283615112305, 0.011447351425886154, 0.20734360814094543, 0.03200787678360939, 0.0032104935962706804, 0.040960680693387985, 0.16139866411685944, 0.026395287364721298, 0.03605107590556145, 0.05835519731044769, 0.0077142599038779736, 0.09680143743753433, 0.034445974975824356, 0.029257595539093018, 0.026028312742710114, 0.2618500888347626, 0.1763145923614502, 0.17777720093727112, 0.1941496878862381, 0.38372185826301575, 0.17861510813236237, 0.16824251413345337, 0.1500508040189743, 0.05889935791492462, 0.2266242951154709, 0.13980133831501007, 0.0741320252418518, 0.22211788594722748, 0.031159434467554092, 0.013459056615829468, 0.0781354233622551, 0.21393023431301117, 0.029544122517108917, 0.5649394392967224, 0.17614126205444336, 0.312677800655365, 0.03284332528710365, 0.4713810980319977, 0.13366012275218964, 0.031815458089113235, 0.222082257270813, 0.036157961934804916, 0.6052737236022949, 0.4776475727558136, 8.09216799098067e-05, 4.8620848247082904e-05, 0.01285638939589262, 0.005185168236494064, 0.004176916554570198, 0.024417679756879807, 0.06945734471082687], "count": [1510]}, "observation.state.joint_torque": {"min": [-57.51449966430664, -17.353500366210938, -27.63800048828125, -14.156000137329102, -0.41440001130104065, -1.8952000141143799, 0.35280001163482666, -1.0200955867767334, -0.71062833070755, -1.0016077756881714, -0.8102335929870605, -0.36857688426971436, -0.49124568700790405, -0.5286648273468018, -0.25899994373321533, -0.04138316959142685, -0.6399626135826111, -0.3338935375213623, -0.06973075866699219, -0.021405089646577835, -0.6495572924613953, -1.128329873085022, -0.11621791869401932, -0.028540121391415596, -0.059373144060373306, -0.36555588245391846, -0.3242989182472229, -0.11123716086149216, -0.028540121391415596, 15.397500038146973, -22.145999908447266, 5.913000106811523, -18.915000915527344, -1.8151999711990356, -2.5703999996185303, -2.740000009536743, -1.1920217275619507, -1.1563630104064941, -0.6536546945571899, -0.933259904384613, -0.13448072969913483, -0.4922051429748535, -1.2991145849227905, -0.09463459998369217, -0.02497260272502899, -0.4384751617908478, -0.38954246044158936, -0.4781537652015686, -0.03068062849342823, -0.7867606282234192, -0.5478540658950806, -0.2025512456893921, -0.033534638583660126, -0.08840001374483109, -0.7522199749946594, -1.2655333280563354, -0.22745507955551147, -0.038529157638549805, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-10.109999656677246, 20.506500244140625, -0.7799999713897705, 2.640000104904175, 1.7968000173568726, 2.089600086212158, 4.411200046539307, 0.7895870804786682, 0.8812810182571411, 1.0538007020950317, 0.7816517353057861, 0.14278201758861542, 0.7790849208831787, 0.7272739410400391, 0.37521788477897644, 0.09846341609954834, 0.8232203125953674, 0.9997617602348328, 0.0879935771226883, 0.022118592634797096, 0.8539230823516846, 0.2437039166688919, 0.08301279693841934, 0.02497260272502899, 0.1829572468996048, 0.3665153384208679, 0.47397536039352417, 0.1411217600107193, 0.021405089646577835, 43.06800079345703, 27.761999130249023, 23.659000396728516, 4.927000045776367, 0.03920000046491623, 2.9079999923706055, 1.1576000452041626, 1.7918531894683838, 3.1850922107696533, 1.6055550575256348, 1.01527738571167, 0.3901601731777191, 1.842171311378479, 0.5497730374336243, 0.7853010892868042, 0.18907828629016876, 0.7109630107879639, 0.3674747943878174, 0.46487167477607727, 0.05351272225379944, 0.813625693321228, 1.0918703079223633, 0.6973075270652771, 0.052085720002651215, 0.49213743209838867, 0.6658682227134705, 0.36171799898147583, 0.47151273488998413, 0.07919883728027344, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-31.763212203979492, 0.9648361802101135, -14.208097457885742, -5.601980209350586, 0.034173108637332916, 0.9253138303756714, 1.7848707437515259, -0.023544225841760635, 0.0004065156099386513, 0.09737337380647659, 0.026219099760055542, 0.00786809716373682, 0.12443675845861435, 0.12460312992334366, 0.03590650111436844, 0.023590510711073875, -0.014440231956541538, 0.2474781572818756, -0.0012138554593548179, 0.0013608539011329412, 0.00664063636213541, -0.09195572137832642, -0.004787256009876728, -2.4096805645967834e-05, 0.015541289001703262, 0.016866212710738182, 0.02203080616891384, 0.0006740025128237903, 0.0005674985004588962, 28.457284927368164, 4.455406665802002, 14.077116012573242, -6.589970588684082, -0.574658215045929, 1.1370041370391846, -1.2213844060897827, 0.05893814563751221, 0.46363669633865356, 0.1902284324169159, 0.05003179982304573, 0.05166143551468849, 0.23470576107501984, -0.11673521995544434, 0.12195625901222229, 0.029636813327670097, 0.040020499378442764, 0.019461223855614662, 0.0030181524343788624, 0.0021088493522256613, 0.0010007438249886036, 0.2529714107513428, 0.007430477533489466, 0.0009062885656021535, 0.3027646839618683, 0.03851454332470894, -0.17291203141212463, -0.0009367809980176389, -0.000655382638797164, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.2985036373138428, 1.9174895286560059, 1.1185892820358276, 0.9630493521690369, 0.2926327586174011, 0.4365050494670868, 0.3243149220943451, 0.15451104938983917, 0.1308257132768631, 0.2612825334072113, 0.15761619806289673, 0.03340296819806099, 0.195095032453537, 0.180704727768898, 0.07351068407297134, 0.023450780659914017, 0.2345617413520813, 0.19465738534927368, 0.006724832579493523, 0.0072786156088113785, 0.14085356891155243, 0.17391528189182281, 0.016938118264079094, 0.00585757102817297, 0.02756907418370247, 0.07938870042562485, 0.07166286557912827, 0.018909040838479996, 0.007384749595075846, 4.803594589233398, 3.520348072052002, 1.9063751697540283, 2.7505476474761963, 0.2909582555294037, 0.6296072602272034, 0.6558395028114319, 0.43714889883995056, 0.8013046383857727, 0.32964247465133667, 0.2602362036705017, 0.08074143528938293, 0.40974730253219604, 0.287301629781723, 0.1835845708847046, 0.040209028869867325, 0.10211683064699173, 0.06961651891469955, 0.025177402421832085, 0.005279389210045338, 0.27188459038734436, 0.2591516673564911, 0.03093494288623333, 0.008981130085885525, 0.18450650572776794, 0.16135649383068085, 0.225926473736763, 0.025695083662867546, 0.006150471046566963, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1510]}, "observation.state.tcp": {"min": [0.3431229293346405, 0.14475616812705994, 1.0232549905776978, -1.2079907655715942, 1.089111089706421, -1.5586968660354614, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2524236738681793, -0.3263328969478607, 0.9877234101295471, -0.1323297917842865, 0.9311472177505493, 0.14905552566051483, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.43503016233444214, 0.25901538133621216, 1.1617047786712646, -0.2941651940345764, 1.404178261756897, -1.2226697206497192, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4355542063713074, -0.08866679668426514, 1.2800371646881104, 1.2065457105636597, 2.0371310710906982, 1.5036948919296265, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.39146745204925537, 0.1710929423570633, 1.0878033638000488, -0.4783015251159668, 1.243335485458374, -1.291703462600708, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3639368414878845, -0.20157454907894135, 1.1210893392562866, 0.4578571319580078, 1.557932734489441, 0.87571781873703, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.020101157948374748, 0.02422160841524601, 0.02333076298236847, 0.22036005556583405, 0.04860988259315491, 0.07482028752565384, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05834488570690155, 0.0672382041811943, 0.08480978012084961, 0.36614808440208435, 0.2659336030483246, 0.35334140062332153, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1510]}, "action": {"min": [0.7510005235671997, -0.7859566807746887, 0.001058731460943818, 0.9975773096084595, -0.8764245510101318, -0.7685465812683105, 0.3486829996109009, 0.0, -0.19911915063858032, -0.22718144953250885, -0.3490658402442932, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.0338328555226326, 0.0, 0.0, 0.0, 0.0, -0.04687172919511795, 0.0, 0.0, 0.3181524872779846, -1.0195471048355103, 0.0, 1.0872303247451782, -1.7654471397399902, -0.7699999809265137, -0.392056941986084, 0.0, -0.34638136625289917, -0.1543205827474594, -0.3379444479942322, 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, 0.5625874400138855, -1.1069231033325195, 0.42193639278411865, -0.029336515814065933, -0.01032867282629013, -0.07643724977970123, -0.8025975823402405], "max": [1.0497950315475464, -0.46989905834198, 0.3337705433368683, 1.567828893661499, -0.001298662624321878, -0.297048419713974, 0.5193628072738647, 1.2481809854507446, 0.0, 0.40780022740364075, 0.0, 0.9755160212516785, 1.189176082611084, 0.21754831075668335, 0.22784727811813354, 0.0939946249127388, 1.29890775680542, 0.18821090459823608, 0.03344063460826874, 0.1447981894016266, 1.1009963750839233, 0.13730186223983765, 0.12963610887527466, 0.356775164604187, 0.07614295184612274, 0.7614295482635498, 0.18265020847320557, 0.12026401609182358, 0.10308343917131424, 1.284057378768921, -0.29406383633613586, 0.8685340285301208, 1.8463562726974487, 0.0, 0.15172836184501648, 0.5199999809265137, 1.3314952850341797, 0.0, 0.5296431183815002, 0.3490658402442932, 0.6404368877410889, 1.5707963705062866, 0.1256055235862732, 0.11660761386156082, 0.5085148215293884, 1.5707963705062866, 0.2034549117088318, 1.7453292608261108, 1.0304036140441895, 1.5707963705062866, 0.2349974513053894, 1.7453292608261108, 0.9130539894104004, 0.15437600016593933, 1.5707963705062866, 0.18907397985458374, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106767177581787, 0.5442397594451904, 3.7247119938553346e-18, 0.00972832553088665, 0.014078755863010883, -0.5626389980316162], "mean": [0.9439014196395874, -0.5589542984962463, 0.20269478857517242, 1.1559816598892212, -0.7525841593742371, -0.4412698447704315, 0.4483967125415802, 1.1974151134490967, -0.15553119778633118, 0.2937987148761749, -0.33780014514923096, 0.834198534488678, 1.1204407215118408, 0.18146967887878418, 0.1677844375371933, 0.08979463577270508, 1.205810308456421, 0.1556055098772049, 0.0010200485121458769, 0.1277753859758377, 1.0272712707519531, 0.05951578915119171, 0.08781633526086807, 0.3353644907474518, 0.06948511302471161, 0.6948503851890564, 0.04926401749253273, 0.09428978711366653, 0.0807989239692688, 0.8392404913902283, -0.6774601340293884, 0.429345041513443, 1.3670690059661865, -1.1296322345733643, -0.25625941157341003, -0.10556543618440628, 1.243467926979065, -0.24669910967350006, 0.24268940091133118, -0.15090711414813995, 0.5826160311698914, 1.2397879362106323, 0.07440801709890366, 0.10153482854366302, 0.43854907155036926, 1.403891682624817, 0.1677621304988861, 1.4647693634033203, 0.9417171478271484, 1.3184266090393066, 0.16050438582897186, 1.512699007987976, 0.8242546319961548, 0.12043720483779907, 1.4622036218643188, 0.10462701320648193, 1.4383761882781982, 1.1527286767959595, 0.5625808238983154, -1.1067830324172974, 0.43579360842704773, -0.023540260270237923, -0.0005606744671240449, -0.025734351947903633, -0.6948637366294861], "std": [0.05566933751106262, 0.08537111431360245, 0.042747434228658676, 0.12465342879295349, 0.19223812222480774, 0.052422091364860535, 0.022436978295445442, 0.17300869524478912, 0.024407021701335907, 0.14503204822540283, 0.049320537596940994, 0.12379346042871475, 0.1747855544090271, 0.046883080154657364, 0.06336639076471329, 0.013202108442783356, 0.21905411779880524, 0.034811973571777344, 0.004501648247241974, 0.04157591611146927, 0.17382994294166565, 0.027712035924196243, 0.03748468682169914, 0.062405653297901154, 0.010892029851675034, 0.10892023146152496, 0.034259483218193054, 0.03078986145555973, 0.026441087946295738, 0.26290297508239746, 0.17669211328029633, 0.17782527208328247, 0.1944459229707718, 0.38382577896118164, 0.17861799895763397, 0.16829757392406464, 0.1712629646062851, 0.06495030224323273, 0.22677786648273468, 0.14509525895118713, 0.0874243900179863, 0.2470477819442749, 0.03164225444197655, 0.015861818566918373, 0.08533637970685959, 0.2588045597076416, 0.03245364502072334, 0.5993839502334595, 0.18500863015651703, 0.34675830602645874, 0.03495107591152191, 0.5078191757202148, 0.14233411848545074, 0.03457728773355484, 0.27135908603668213, 0.036816272884607315, 0.6409947276115417, 0.5110501646995544, 1.4100442967901472e-05, 2.2165921109262854e-05, 0.01358034648001194, 0.005248915869742632, 0.004219649825245142, 0.024470362812280655, 0.06951449811458588], "count": [1510]}, "observation.state.tcp_pose": {"min": [0.3431229293346405, 0.14475616812705994, 1.0232549905776978, -1.2079907655715942, 1.089111089706421, -1.5586968660354614, 0.2524236738681793, -0.3263328969478607, 0.9877234101295471, -0.1323297917842865, 0.9311472177505493, 0.14905552566051483], "max": [0.43503016233444214, 0.25901538133621216, 1.1617047786712646, -0.2941651940345764, 1.404178261756897, -1.2226697206497192, 0.4355542063713074, -0.08866679668426514, 1.2800371646881104, 1.2065457105636597, 2.0371310710906982, 1.5036948919296265], "mean": [0.39146745204925537, 0.1710929423570633, 1.0878033638000488, -0.4783015251159668, 1.243335485458374, -1.291703462600708, 0.3639368414878845, -0.20157454907894135, 1.1210893392562866, 0.4578571319580078, 1.557932734489441, 0.87571781873703], "std": [0.020101157948374748, 0.02422160841524601, 0.02333076298236847, 0.22036005556583405, 0.04860988259315491, 0.07482028752565384, 0.05834488570690155, 0.0672382041811943, 0.08480978012084961, 0.36614808440208435, 0.2659336030483246, 0.35334140062332153], "count": [1510]}, "action.tcp_pose": {"min": [0.3427797257900238, 0.1446240246295929, 1.0229358673095703, -1.208085536956787, 1.085966944694519, -1.559309720993042, 0.25237905979156494, -0.3297167122364044, 0.9877772331237793, -0.13253265619277954, 0.9329506158828735, 0.14905773103237152], "max": [0.4358029365539551, 0.2593348026275635, 1.1619510650634766, -0.29418012499809265, 1.4045366048812866, -1.2228751182556152, 0.43585965037345886, -0.08911091834306717, 1.279577374458313, 1.20885169506073, 2.037252187728882, 1.5027153491973877], "mean": [0.3915444612503052, 0.17112165689468384, 1.0877217054367065, -0.478381872177124, 1.2434256076812744, -1.2916675806045532, 0.36393097043037415, -0.20167505741119385, 1.1213006973266602, 0.45819398760795593, 1.557502269744873, 0.8755303025245667], "std": [0.020249033346772194, 0.024277424439787865, 0.023450316861271858, 0.2204040288925171, 0.048679813742637634, 0.0747099220752716, 0.058499131351709366, 0.0676419660449028, 0.08521690964698792, 0.36628758907318115, 0.2655327022075653, 0.35350820422172546], "count": [1510]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.637748344370861], "std": [6.93139743678976], "count": [1510]}, "observation.tactile": {"min": [-4.678924560546875, -0.003509521484375, -0.0003662109375, -0.05494976043701172, -0.009363174438476562, -0.11099863052368164, -0.7099380493164062, -0.002471923828125, -0.00537109375, -0.13323116302490234, -0.010508060455322266, -0.019028902053833008, -0.03782081604003906, -0.007720947265625, -0.00634765625, -0.0002288818359375, -0.0011434555053710938, -0.0003802776336669922, -0.01244354248046875, -0.00927734375, -0.00616455078125, -0.00039768218994140625, -0.0008368492126464844, -0.0004425048828125, -0.0030307769775390625, -0.0016632080078125, -0.00335693359375, -7.82012939453125e-05, -0.0008320808410644531, -0.00026786327362060547, -1.091064453125, -0.017120361328125, -0.0113525390625, -0.2866373062133789, -0.019929885864257812, -0.0347447395324707, -5.755207061767578, -0.007354736328125, -0.00164794921875, -0.12031841278076172, -0.01257181167602539, -0.11716604232788086, -0.028680801391601562, -0.007659912109375, -0.005615234375, -0.000164031982421875, -0.0014009475708007812, -0.0004398822784423828, -0.09994888305664062, -0.01434326171875, -0.01495361328125, -0.016898155212402344, -0.0022058486938476562, -0.0031518936157226562, -0.3352642059326172, -0.012664794921875, -0.00421142578125, -0.0004291534423828125, -0.0007290840148925781, -0.00545048713684082], "max": [0.201202392578125, 3.320648193359375, 2.5079345703125, 0.0005931854248046875, 0.0031681060791015625, 0.004590511322021484, 4.998069763183594, 3.0830078125, 7.93682861328125, 0.0021104812622070312, 0.015935420989990234, 0.09242129325866699, 0.000270843505859375, 0.02728271484375, 0.0035400390625, 0.00075531005859375, 3.814697265625e-05, 4.7206878662109375e-05, 0.02346038818359375, 0.0040740966796875, 0.00579833984375, 0.0007686614990234375, 0.00013637542724609375, 0.0, 0.015138626098632812, 0.0078125, 0.00384521484375, 0.000942230224609375, 5.7697296142578125e-05, 1.0967254638671875e-05, 9.297607421875, 14.242645263671875, 11.37591552734375, 0.005621910095214844, 0.04054069519042969, 0.1743311882019043, 0.2843437194824219, 6.036102294921875, 6.43817138671875, 0.001590728759765625, 0.00937795639038086, 0.007631778717041016, 0.012212753295898438, 0.024200439453125, 0.00408935546875, 0.0010833740234375, 2.288818359375e-05, 3.0517578125e-05, 0.9653587341308594, 0.700775146484375, 1.36517333984375, 0.0022783279418945312, 0.006083488464355469, 0.01977062225341797, 0.014131546020507812, 0.0164642333984375, 0.0994873046875, 0.0021696090698242188, 0.0011239051818847656, 2.1219253540039062e-05], "mean": [-1.612463116645813, 1.1974765062332153, 1.0872811079025269, -0.02354266494512558, 0.00012988349772058427, -0.03826050087809563, 0.6780804991722107, 0.5416168570518494, 1.8391104936599731, -0.032096534967422485, 0.0026446827687323093, 0.010226523503661156, -0.020317358896136284, -0.003132457612082362, -0.0007919210474938154, 0.00033728996641002595, -0.0006698128418065608, -0.00022497263853438199, 0.00459295092150569, -0.0032696856651455164, 0.0009737330838106573, 2.610794035717845e-05, -9.437649714527652e-05, -0.00021331974130589515, -0.000598845595959574, 0.0028550103306770325, 0.00020473050244618207, 0.00025849248049780726, -0.00017359557386953384, -7.547708810307086e-05, 1.202422857284546, 2.425034284591675, 2.707034111022949, -0.06169039383530617, -0.001198127050884068, 0.022657662630081177, -1.058801293373108, 1.2529709339141846, 1.6064295768737793, -0.029551468789577484, -0.0009329330059699714, -0.021436724811792374, -0.004618681501597166, 0.0022032579872757196, -0.0010198125382885337, 0.0003875846159644425, -0.00033810280729085207, -0.00014415134501177818, 0.05939575657248497, 0.02768891118466854, 0.02358986623585224, 0.0001593315100762993, -0.00028644618578255177, 0.0007428659591823816, -0.005033299792557955, -0.0010764722246676683, 0.0019238402601331472, 6.663530803052709e-05, -9.792608761927113e-05, -0.0002150730579160154], "std": [1.0174479484558105, 0.7823300957679749, 0.6690324544906616, 0.015076092444360256, 0.0021617491729557514, 0.025043679401278496, 0.568737804889679, 0.3932046890258789, 1.2062489986419678, 0.021326862275600433, 0.0030515443067997694, 0.009934017434716225, 0.006166281644254923, 0.0019155467161908746, 0.0013543498935177922, 0.00014705542707815766, 0.0002176228881580755, 6.77161879139021e-05, 0.0030676359310746193, 0.0017748899990692735, 0.0016856460133567452, 0.00012514452100731432, 0.00010339250729884952, 5.473495548358187e-05, 0.0014706646325066686, 0.0013162679970264435, 0.00112384173553437, 0.00013311636575963348, 0.00012398937542457134, 4.297229679650627e-05, 2.017223834991455, 3.186636209487915, 3.4476077556610107, 0.08051004260778427, 0.005313083063811064, 0.03783997520804405, 1.6142665147781372, 1.6215661764144897, 2.06976318359375, 0.03910619765520096, 0.0030877580866217613, 0.0324520505964756, 0.007580136880278587, 0.0024035784881561995, 0.0013925540260970592, 0.00020859987125732005, 0.00017061650578398257, 7.264942541951314e-05, 0.16736000776290894, 0.08965777605772018, 0.10473208129405975, 0.0015466263284906745, 0.0007631871849298477, 0.003077790606766939, 0.033039577305316925, 0.0025793612003326416, 0.006479472853243351, 0.00025051378179341555, 0.0001528426946606487, 0.0004152387846261263], "count": [1510]}, "timestamp": {"min": [0.0], "max": [50.3], "mean": [25.15], "std": [14.529978588345468], "count": [1510]}, "frame_index": {"min": [0], "max": [1509], "mean": [754.5], "std": [435.89935765036404], "count": [1510]}, "episode_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [1510]}, "index": {"min": [19209], "max": [20718], "mean": [19963.5], "std": [435.89935765036404], "count": [1510]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1510]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3198472559452057]], [[0.31918272376060486]], [[0.3190571069717407]]], "std": [[[0.19529585540294647]], [[0.19532641768455505]], [[0.1952752023935318]]], "count": [1510]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30549266934394836]], [[0.307498037815094]], [[0.30585893988609314]]], "std": [[[0.17267575860023499]], [[0.17485010623931885]], [[0.17405861616134644]]], "count": [1510]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30927178263664246]], [[0.30811604857444763]], [[0.3059048056602478]]], "std": [[[0.17440007627010345]], [[0.17491313815116882]], [[0.17295776307582855]]], "count": [1510]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3148466646671295]], [[0.3142077922821045]], [[0.31419092416763306]]], "std": [[[0.19373095035552979]], [[0.19379761815071106]], [[0.19380037486553192]]], "count": [1510]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7058823704719543]], [[0.7058823704719543]], [[0.7058823704719543]]], "mean": [[[0.004881749860942364]], [[0.004881749860942364]], [[0.004881749860942364]]], "std": [[[0.04555806145071983]], [[0.04555806145071983]], [[0.04555806145071983]]], "count": [1510]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[0.9607843160629272]], [[0.9607843160629272]], [[0.9607843160629272]]], "mean": [[[0.4749101400375366]], [[0.4749101400375366]], [[0.4749101400375366]]], "std": [[[0.1520957052707672]], [[0.1520957052707672]], [[0.1520957052707672]]], "count": [1510]}}}
+{"episode_index": 13, "stats": {"observation.state": {"min": [0.7680468559265137, -0.7812740206718445, 0.0002836666244547814, 1.1187299489974976, -0.8009626865386963, -0.7696651220321655, 0.30074772238731384, 0.0061370558105409145, -0.20140139758586884, -0.22532011568546295, -0.3181679844856262, 0.002554625505581498, 0.0031213779002428055, -0.000193062296602875, 0.003411249490454793, 0.0008664483320899308, 0.0039044206496328115, -0.0007310362416319549, 0.005668042227625847, 0.0008629009244032204, 0.003362766932696104, 0.00013639460667036474, 0.0030481768772006035, 0.0008943839347921312, 0.006211231928318739, 0.0032746989745646715, 0.00011333498696330935, 0.0030141391325742006, 0.0008606838528066874, 0.28649622201919556, -1.0001109838485718, 0.00011313107825117186, 1.1611710786819458, -1.755105972290039, -0.7698041796684265, -0.44877853989601135, 0.006258110050112009, -0.3228258788585663, -0.15426205098628998, -0.31713345646858215, 0.0033325364347547293, 0.0055431192740798, 0.00011995826207567006, 0.0034910261165350676, 0.0017302361084148288, 0.008933361619710922, 7.702889706706628e-05, 0.0033960030414164066, 0.0023004780523478985, 0.005195263773202896, 0.0013035995652899146, 0.0035275460686534643, 0.002347037196159363, 0.010351339355111122, 0.011113714426755905, 0.000903247098904103, 0.00676931394264102, 0.0008385126711800694, 0.5617246031761169, -1.107150673866272, 0.4207901060581207, -0.029049761593341827, -0.008628642186522484, -0.125115305185318, -0.7989163398742676], "max": [1.0499567985534668, -0.5219886898994446, 0.3709549009799957, 1.5695215463638306, -0.00034047182998619974, -0.32498520612716675, 0.5198695659637451, 1.2564697265625, 0.00139193597715348, 0.46378999948501587, -0.0024436884559690952, 0.9581440687179565, 1.1971611976623535, 0.21119143068790436, 0.2080153077840805, 0.09176414459943771, 1.2976595163345337, 0.19304876029491425, 0.017381027340888977, 0.16293220221996307, 1.0625301599502563, 0.1180429682135582, 0.3662956953048706, 0.35067877173423767, 0.06964436173439026, 0.7949774861335754, 0.19321510195732117, 0.10086817294359207, 0.09169985353946686, 1.1465984582901, -0.30115437507629395, 0.8586111068725586, 1.8172686100006104, -0.00019690081535372883, 0.1174631416797638, 0.5198044776916504, 1.3473825454711914, 0.0013436950976029038, 0.5186051726341248, 0.314721018075943, 0.6453632712364197, 1.4659738540649414, 0.14967454969882965, 0.11208264529705048, 0.5010643005371094, 1.4666869640350342, 0.2278681993484497, 1.6533589363098145, 1.072277307510376, 1.4673786163330078, 0.2760748565196991, 1.6558620929718018, 0.9196400046348572, 0.13710841536521912, 1.46829354763031, 0.21002525091171265, 1.6533302068710327, 1.3081517219543457, 0.5629709362983704, -1.1065753698349, 0.544083833694458, 0.0, 0.007957525551319122, 0.025118935853242874, -0.5831044316291809], "mean": [0.9313679337501526, -0.5863028764724731, 0.20560628175735474, 1.2028758525848389, -0.6888490915298462, -0.44810837507247925, 0.42380329966545105, 1.2158564329147339, -0.1575729101896286, 0.3575686812400818, -0.30844321846961975, 0.8149884939193726, 1.1443893909454346, 0.17985059320926666, 0.16558988392353058, 0.08682817220687866, 1.2209384441375732, 0.16473491489887238, 0.006910167168825865, 0.1446908712387085, 1.009189248085022, 0.0714997798204422, 0.08390820771455765, 0.337358295917511, 0.05245319753885269, 0.7267181873321533, 0.08880718052387238, 0.08615164458751678, 0.07521442323923111, 0.8063153624534607, -0.6881880164146423, 0.4542759954929352, 1.4046679735183716, -1.226843237876892, -0.21056663990020752, -0.15460461378097534, 1.2417941093444824, -0.24251039326190948, 0.21874356269836426, -0.10712096840143204, 0.5762338042259216, 1.2200902700424194, 0.07894808799028397, 0.09994583576917648, 0.4513777792453766, 1.4036377668380737, 0.17100553214550018, 1.4260889291763306, 0.9794133901596069, 1.329193353652954, 0.16881389915943146, 1.4755580425262451, 0.8335671424865723, 0.10550634562969208, 1.4049497842788696, 0.12485941499471664, 1.4119635820388794, 1.1191953420639038, 0.5624966621398926, -1.1067832708358765, 0.4299663007259369, -0.022850602865219116, -0.0004711767251137644, -0.03663915395736694, -0.7031318545341492], "std": [0.05753536522388458, 0.06615359336137772, 0.046895239502191544, 0.1051061674952507, 0.16728956997394562, 0.04872757941484451, 0.021954864263534546, 0.1519060730934143, 0.02015134133398533, 0.1633855551481247, 0.03661174699664116, 0.09775324165821075, 0.15726782381534576, 0.03722299262881279, 0.0574101060628891, 0.01076117530465126, 0.20152884721755981, 0.027003126218914986, 0.0030095046386122704, 0.04191717132925987, 0.14918918907642365, 0.020015031099319458, 0.04716239497065544, 0.04615373909473419, 0.009107431396842003, 0.09677678346633911, 0.03366537019610405, 0.02541293390095234, 0.02267586812376976, 0.2570057809352875, 0.16473594307899475, 0.1889360398054123, 0.1735132336616516, 0.4205233156681061, 0.1738528162240982, 0.19263556599617004, 0.15549437701702118, 0.05672803148627281, 0.21511855721473694, 0.19960178434848785, 0.07134918123483658, 0.20757737755775452, 0.03211914747953415, 0.013059440068900585, 0.059229835867881775, 0.18518930673599243, 0.022690393030643463, 0.533000111579895, 0.17837516963481903, 0.27169913053512573, 0.029834087938070297, 0.44204390048980713, 0.13206318020820618, 0.026929927989840508, 0.1823514699935913, 0.026087874546647072, 0.5627495050430298, 0.4432790279388428, 7.289340283023193e-05, 4.23567253164947e-05, 0.012946332804858685, 0.006472430191934109, 0.0038754157721996307, 0.0350612998008728, 0.068844735622406], "count": [1569]}, "observation.state.joint_torque": {"min": [-50.94599914550781, -6.004499912261963, -25.52199935913086, -10.760000228881836, -0.29760000109672546, -0.4975999891757965, 0.746399998664856, -0.9895308017730713, -0.6303961277008057, -0.73194420337677, -0.7480990886688232, -0.36857688426971436, -0.31854215264320374, -0.5871921181678772, -0.2573396861553192, -0.039956167340278625, -0.4499887228012085, -0.35692068934440613, -0.04648716747760773, -0.01855107769370079, -0.6178950071334839, -1.0650053024291992, -0.12119869887828827, -0.028540121391415596, -0.08224280178546906, -0.4116101562976837, -0.4432724714279175, -0.1145576685667038, -0.025686107575893402, 1.3995000123977661, -18.70949935913086, -4.426000118255615, -14.237000465393066, -1.785599946975708, -1.7527999877929688, -3.225600004196167, -1.1308925151824951, -0.8723663687705994, -1.2029236555099487, -0.8972218632698059, -0.12617947161197662, -0.5823948383331299, -1.1503976583480835, -0.1062563955783844, -0.022118592634797096, -0.5344215631484985, -0.34924495220184326, -0.49807682633399963, -0.039242662489414215, -0.8184229731559753, -0.5881515741348267, -0.1942499577999115, -0.022118592634797096, -0.07696519792079926, -0.8280176520347595, -1.2175601720809937, -0.3635960817337036, -0.06207476183772087, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-18.589500427246094, 10.594499588012695, -7.291999816894531, 0.18700000643730164, 1.757599949836731, 1.7511999607086182, 4.3927998542785645, 0.8698192238807678, 0.6405843496322632, 1.3545316457748413, 0.854970395565033, 0.16436536610126495, 0.9239640235900879, 0.7464632391929626, 0.5196601748466492, 0.10274443030357361, 0.7061656713485718, 0.8491258025169373, 0.018262818455696106, 0.05279921740293503, 0.4979619085788727, 0.2437039017677307, 0.16602559387683868, 0.02354559674859047, 0.05893334746360779, 0.37802889943122864, 0.3722721040248871, 0.09131408482789993, 0.021405089646577835, 50.182498931884766, 17.350500106811523, 26.334999084472656, 0.11599999666213989, 0.20720000565052032, 2.8743999004364014, 0.430400013923645, 1.7714767456054688, 2.981327772140503, 1.3321633338928223, 1.1358182430267334, 0.44494864344596863, 1.894941806793213, 0.4739753305912018, 0.8782755136489868, 0.20049433410167694, 0.5123538970947266, 0.3463665843009949, 0.6807050108909607, 0.04423718526959419, 0.8260987401008606, 1.0410186052322388, 0.6076537370681763, 0.032821137458086014, 0.49213743209838867, 0.5708812475204468, 0.23698768019676208, 0.5047178864479065, 0.07777182012796402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-31.42957305908203, 1.1532529592514038, -14.54535961151123, -5.745392799377441, 0.18526266515254974, 0.8071222901344299, 1.7969974279403687, 0.009568885900080204, 0.005525096785277128, 0.26477670669555664, 0.09233055263757706, 0.006923566106706858, 0.2108081430196762, 0.15211398899555206, 0.129460871219635, 0.04347364977002144, 0.06946547329425812, 0.16956521570682526, -0.0008433543844148517, 0.00908952672034502, -0.0011068281019106507, -0.06612669676542282, 0.0031533229630440474, 0.0018549254164099693, 0.0012176483869552612, 0.030740123242139816, 0.04925064370036125, 0.0006327831069938838, 0.00022783222084399313, 28.194461822509766, 4.536600589752197, 14.178892135620117, -6.832563400268555, -0.6566409468650818, 1.2277032136917114, -1.0895665884017944, 0.038448624312877655, 0.291241854429245, 0.14202532172203064, 0.04996651038527489, 0.03998686000704765, 0.18663085997104645, -0.12231534719467163, 0.09042307734489441, 0.026648297905921936, 0.007030544802546501, -0.00414300337433815, 0.0016697822138667107, 0.002856750041246414, 0.015041396021842957, 0.1765040010213852, 0.0024316562339663506, 0.0007780781015753746, 0.2654203176498413, -0.006116347853094339, -0.13420408964157104, 0.0022803391329944134, 0.00038835659506730735, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.087852716445923, 1.5366840362548828, 0.9141306281089783, 0.9665207266807556, 0.2674697935581207, 0.38957998156547546, 0.3294518291950226, 0.16232705116271973, 0.08439436554908752, 0.3070827126502991, 0.20665644109249115, 0.03069586120545864, 0.19221507012844086, 0.17772430181503296, 0.10306746512651443, 0.022800017148256302, 0.15313804149627686, 0.17729300260543823, 0.004170489963144064, 0.00874121394008398, 0.11092198640108109, 0.1232386976480484, 0.013648089952766895, 0.008078603073954582, 0.007177725434303284, 0.08951272070407867, 0.08529568463563919, 0.013771981000900269, 0.0068103475496172905, 4.5188140869140625, 3.2908527851104736, 1.929636001586914, 2.5495073795318604, 0.29917994141578674, 0.6999683380126953, 0.6877516508102417, 0.38790392875671387, 0.6232246160507202, 0.30034464597702026, 0.2913762927055359, 0.07850439846515656, 0.4179309606552124, 0.268428236246109, 0.1631946563720703, 0.0417160838842392, 0.07227756083011627, 0.05186357721686363, 0.02817787043750286, 0.005017933435738087, 0.23880986869335175, 0.23377560079097748, 0.020901015028357506, 0.00754835968837142, 0.17481596767902374, 0.13624761998653412, 0.18971429765224457, 0.025832101702690125, 0.00523780845105648, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1569]}, "observation.state.tcp": {"min": [0.3337472081184387, 0.15348343551158905, 1.0338770151138306, -1.2084110975265503, 1.0509635210037231, -1.5754364728927612, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.26401767134666443, -0.30302736163139343, 0.9919944405555725, -0.31344783306121826, 0.9583195447921753, 0.08155985921621323, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.413137823343277, 0.23731130361557007, 1.1547369956970215, -0.37241119146347046, 1.3763855695724487, -1.2291152477264404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4216703474521637, -0.07031520456075668, 1.2742267847061157, 1.2087321281433105, 2.0477473735809326, 1.7231721878051758, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.38447824120521545, 0.17524920403957367, 1.088124394416809, -0.5601831674575806, 1.2505401372909546, -1.3108487129211426, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3549303114414215, -0.19985154271125793, 1.1168628931045532, 0.389456182718277, 1.5832136869430542, 0.8137167096138, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.018141847103834152, 0.015633756294846535, 0.02003365196287632, 0.18386632204055786, 0.048186201602220535, 0.08277439326047897, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05281476303935051, 0.06423526257276535, 0.08593987673521042, 0.40677323937416077, 0.26957833766937256, 0.4412878751754761, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1569]}, "action": {"min": [0.7680567502975464, -0.7812443971633911, -8.950779960551566e-18, 1.1186918020248413, -0.8009419441223145, -0.7699999809265137, 0.30075305700302124, 0.0, -0.2003656029701233, -0.22939623892307281, -0.3490658402442932, 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, 0.2843804359436035, -1.0004152059555054, 0.002601488260552287, 1.1608960628509521, -1.7550926208496094, -0.7654771208763123, -0.448891818523407, 0.0, -0.34734004735946655, -0.1585390418767929, -0.33717745542526245, 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, 0.562491774559021, -1.1069231033325195, 0.4203207790851593, -0.029184289276599884, -0.00911494717001915, -0.125517338514328, -0.7989625334739685], "max": [1.0499999523162842, -0.52198326587677, 0.3709414005279541, 1.5700000524520874, -6.155631618797091e-18, -0.32451093196868896, 0.5199999809265137, 1.2598775625228882, 0.0, 0.47181516885757446, 0.0, 0.9627554416656494, 1.2063984870910645, 0.21371358633041382, 0.21465063095092773, 0.09364943951368332, 1.3046245574951172, 0.1963605284690857, 0.02165479026734829, 0.16525764763355255, 1.0630481243133545, 0.12387960404157639, 0.3717977702617645, 0.3540332317352295, 0.08009298145771027, 0.800929844379425, 0.19703125953674316, 0.10966038703918457, 0.09364950656890869, 1.146572232246399, -0.30112025141716003, 0.8587930798530579, 1.8175026178359985, -0.0058966572396457195, 0.11751239746809006, 0.5148097276687622, 1.3485608100891113, 0.0, 0.5232195854187012, 0.3490658402442932, 0.6496407985687256, 1.5632253885269165, 0.1469852328300476, 0.11539096385240555, 0.5037975311279297, 1.5707963705062866, 0.22949844598770142, 1.7453292608261108, 1.0759917497634888, 1.5707963705062866, 0.2800580859184265, 1.7453292608261108, 0.9238400459289551, 0.14854684472084045, 1.5707963705062866, 0.21217960119247437, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106767177581787, 0.5442397594451904, -6.729197518168018e-19, 0.008472883142530918, 0.025807460770010948, -0.5819275975227356], "mean": [0.9314855933189392, -0.5863627791404724, 0.205586239695549, 1.2029211521148682, -0.6889159679412842, -0.4480752646923065, 0.42381778359413147, 1.214372992515564, -0.1604008972644806, 0.3636799454689026, -0.3409377932548523, 0.8179962635040283, 1.1480962038040161, 0.1831195056438446, 0.16979731619358063, 0.08999349921941757, 1.223051905632019, 0.16973553597927094, 0.004865253809839487, 0.14694362878799438, 1.0109604597091675, 0.0741192176938057, 0.08621525764465332, 0.3391452133655548, 0.0729367807507515, 0.7293679118156433, 0.09323833882808685, 0.0913381353020668, 0.07829113304615021, 0.8060945868492126, -0.6887369751930237, 0.45424237847328186, 1.4050124883651733, -1.2262382507324219, -0.2107742726802826, -0.15485844016075134, 1.2434231042861938, -0.24512067437171936, 0.2205362766981125, -0.10393775254487991, 0.5786226987838745, 1.2297998666763306, 0.07896909862756729, 0.10240829735994339, 0.45373794436454773, 1.4896594285964966, 0.1729431301355362, 1.5037864446640015, 0.9813112616539001, 1.375117301940918, 0.1688874214887619, 1.5521055459976196, 0.8352939486503601, 0.12235955148935318, 1.4952735900878906, 0.12497273832559586, 1.4847017526626587, 1.1933785676956177, 0.5625792145729065, -1.1067838668823242, 0.43001559376716614, -0.022900672629475594, -0.00048490340122953057, -0.036664072424173355, -0.7031765580177307], "std": [0.057546816766262054, 0.06622864305973053, 0.04698490351438522, 0.10527878999710083, 0.16730515658855438, 0.048795416951179504, 0.021896986290812492, 0.16781319677829742, 0.02307533100247383, 0.16513366997241974, 0.04736882820725441, 0.11553313583135605, 0.17164823412895203, 0.03940316662192345, 0.06016978248953819, 0.012477506883442402, 0.21081307530403137, 0.030147191137075424, 0.0055921352468431, 0.04272967204451561, 0.15988947451114655, 0.020690210163593292, 0.0484200157225132, 0.05020526424050331, 0.01075498852878809, 0.10754986107349396, 0.03528209775686264, 0.02700258232653141, 0.023138603195548058, 0.25796014070510864, 0.1650499403476715, 0.18914228677749634, 0.173751100897789, 0.4207056164741516, 0.1740577071905136, 0.1924261599779129, 0.17273534834384918, 0.06696439534425735, 0.21523410081863403, 0.2121702879667282, 0.08315327763557434, 0.22857128083705902, 0.032424576580524445, 0.014825339429080486, 0.06783339381217957, 0.23085978627204895, 0.025630883872509003, 0.5646247267723083, 0.18551819026470184, 0.3051186203956604, 0.032038040459156036, 0.4734392762184143, 0.14019519090652466, 0.029700197279453278, 0.22881576418876648, 0.028352243825793266, 0.5931338667869568, 0.47415950894355774, 1.4685061614727601e-05, 2.189028964494355e-05, 0.013553623110055923, 0.006497309077531099, 0.003931225743144751, 0.03508792445063591, 0.06888343393802643], "count": [1569]}, "observation.state.tcp_pose": {"min": [0.3337472081184387, 0.15348343551158905, 1.0338770151138306, -1.2084110975265503, 1.0509635210037231, -1.5754364728927612, 0.26401767134666443, -0.30302736163139343, 0.9919944405555725, -0.31344783306121826, 0.9583195447921753, 0.08155985921621323], "max": [0.413137823343277, 0.23731130361557007, 1.1547369956970215, -0.37241119146347046, 1.3763855695724487, -1.2291152477264404, 0.4216703474521637, -0.07031520456075668, 1.2742267847061157, 1.2087321281433105, 2.0477473735809326, 1.7231721878051758], "mean": [0.38447824120521545, 0.17524920403957367, 1.088124394416809, -0.5601831674575806, 1.2505401372909546, -1.3108487129211426, 0.3549303114414215, -0.19985154271125793, 1.1168628931045532, 0.389456182718277, 1.5832136869430542, 0.8137167096138], "std": [0.018141847103834152, 0.015633756294846535, 0.02003365196287632, 0.18386632204055786, 0.048186201602220535, 0.08277439326047897, 0.05281476303935051, 0.06423526257276535, 0.08593987673521042, 0.40677323937416077, 0.26957833766937256, 0.4412878751754761], "count": [1569]}, "action.tcp_pose": {"min": [0.33383509516716003, 0.15350009500980377, 1.033708930015564, -1.208855390548706, 1.0391277074813843, -1.5764899253845215, 0.26411545276641846, -0.3029823303222656, 0.991907000541687, -0.3140332102775574, 0.9549558162689209, 0.08177825063467026], "max": [0.4129892885684967, 0.2374376654624939, 1.1544604301452637, -0.3720654249191284, 1.3765314817428589, -1.2289544343948364, 0.42228567600250244, -0.07018181681632996, 1.2729830741882324, 1.2062835693359375, 2.047888994216919, 1.7385125160217285], "mean": [0.3845779597759247, 0.17526143789291382, 1.0881057977676392, -0.5601116418838501, 1.2505768537521362, -1.310884952545166, 0.3548809289932251, -0.20002658665180206, 1.1167727708816528, 0.39028143882751465, 1.583538293838501, 0.8133658766746521], "std": [0.01823810487985611, 0.01566639170050621, 0.020170042291283607, 0.18379037082195282, 0.048220597207546234, 0.08280570805072784, 0.05300675332546234, 0.0645250603556633, 0.0860663652420044, 0.4075147807598114, 0.2692811191082001, 0.4410625696182251], "count": [1569]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.476099426386233], "std": [6.793097841527786], "count": [1569]}, "observation.tactile": {"min": [-7.327445983886719, -0.005126953125, 0.0, -0.1034231185913086, -0.01594686508178711, -0.16226911544799805, -0.7071781158447266, -0.001434326171875, -0.010498046875, -0.19175243377685547, -0.017833232879638672, -0.01679396629333496, -0.309844970703125, -0.03009033203125, -0.00323486328125, -0.12888240814208984, -0.01909351348876953, -0.004839181900024414, -0.01894378662109375, -0.00738525390625, -0.00775146484375, -0.0003376007080078125, -0.00033092498779296875, -0.0003464221954345703, -0.0017242431640625, -0.008880615234375, -0.003662109375, -0.0002002716064453125, -0.0010137557983398438, -0.00037932395935058594, -0.269866943359375, -0.0194091796875, -0.015869140625, -0.35283946990966797, -0.03349590301513672, -0.016520261764526367, -5.395854949951172, -0.0091552734375, -0.01361083984375, -0.12340450286865234, -0.00868844985961914, -0.10857439041137695, -0.02814483642578125, -0.00726318359375, -0.00518798828125, -0.0004100799560546875, -0.0011811256408691406, -0.0005643367767333984, -0.008205413818359375, -0.018646240234375, -0.012939453125, -0.0019712448120117188, -0.0015716552734375, -0.0006155967712402344, -0.03132820129394531, -0.00531005859375, -0.00775146484375, -0.0001678466796875, -0.00093841552734375, -0.0004074573516845703], "max": [0.003917694091796875, 6.025421142578125, 4.609130859375, 0.00032806396484375, 0.0027489662170410156, 0.0001971721649169922, 4.736181259155273, 5.473236083984375, 12.522216796875, 0.0014209747314453125, 0.006035327911376953, 0.08630967140197754, 4.682586669921875, 4.37774658203125, 8.19769287109375, 0.0022439956665039062, 0.004588127136230469, 0.08390212059020996, 0.007640838623046875, 0.004547119140625, 0.002685546875, 0.0004978179931640625, 0.00019121170043945312, 0.0, 0.01629638671875, 0.0073089599609375, 0.00372314453125, 0.00115203857421875, 8.296966552734375e-05, 7.104873657226562e-05, 9.626129150390625, 19.625518798828125, 14.11767578125, 0.006913185119628906, 0.04874897003173828, 0.20972180366516113, 0.2701606750488281, 4.571380615234375, 5.81304931640625, 0.0038118362426757812, 0.007409572601318359, 0.007194042205810547, 0.02251434326171875, 0.02740478515625, 0.053955078125, 0.001178741455078125, 0.0009942054748535156, 0.0003781318664550781, 0.662994384765625, 0.246337890625, 0.08648681640625, 0.00147247314453125, 0.00344085693359375, 0.009183406829833984, 0.009195327758789062, 0.0330810546875, 0.00823974609375, 0.000949859619140625, 0.000186920166015625, 0.00014853477478027344], "mean": [-3.109405755996704, 3.3096725940704346, 2.6323773860931396, -0.05817599222064018, -0.005536173470318317, -0.06638029962778091, 1.4947969913482666, 1.4166347980499268, 4.191533088684082, -0.06877796351909637, -0.0036839444655925035, 0.026098843663930893, 0.23015420138835907, 0.21299254894256592, 0.7896916270256042, -0.014131044037640095, 0.0007601405959576368, 0.003644043579697609, -0.004712893161922693, -0.0010828294325619936, -0.002378309378400445, 6.724832201143727e-05, -6.213744200067595e-05, -0.00015889405040070415, 0.0009784637950360775, 0.001997394021600485, 5.3293922974262387e-05, 0.00029140495462343097, -0.00022681037080474198, -7.759012805763632e-05, 0.9242034554481506, 2.2051777839660645, 2.3103110790252686, -0.051641322672367096, -0.002000136999413371, 0.017031606286764145, -0.7863912582397461, 0.8651400804519653, 1.1431955099105835, -0.021805603057146072, -0.0015094251139089465, -0.01626746356487274, 0.004638178274035454, -0.000847480318043381, 0.00016600862727500498, 0.0003464384644757956, -0.0003683510876726359, -0.00028570598806254566, 0.01060843002051115, 0.0005800771177746356, -0.003032502019777894, 0.0007101822411641479, -0.0006157929310575128, -0.00024262531951535493, -0.004195408429950476, 0.00017950715846382082, 0.0007550620939582586, 0.00028285651933401823, -0.00011694180284393951, -6.803400901844725e-05], "std": [1.4262126684188843, 1.4194988012313843, 1.11716628074646, 0.025207793340086937, 0.0025632448960095644, 0.03130806237459183, 0.7038289308547974, 0.6933413147926331, 1.8403702974319458, 0.029851457104086876, 0.0023579066619277, 0.012634176760911942, 0.461160272359848, 0.4141786992549896, 0.7811494469642639, 0.013160830363631248, 0.003009648295119405, 0.00786107312887907, 0.004395102616399527, 0.0017346689710393548, 0.0015601791674271226, 0.00011414857726776972, 7.056587492115796e-05, 6.0107755416538566e-05, 0.0016025627264752984, 0.001390770310536027, 0.0011119428090751171, 0.0001439313928131014, 0.00014009009464643896, 4.752575478050858e-05, 1.541144847869873, 3.59557843208313, 3.348142385482788, 0.07732105255126953, 0.00702962139621377, 0.02941441908478737, 1.2659493684768677, 1.1826064586639404, 1.549261212348938, 0.03033117577433586, 0.0022162452805787325, 0.027007313445210457, 0.005996137857437134, 0.001904486445710063, 0.0024419643450528383, 0.0002923031570389867, 0.0003204240929335356, 0.00010831384133780375, 0.024999171495437622, 0.008870767429471016, 0.0040489379316568375, 0.0002594494726508856, 0.0003278758376836777, 0.00040827045449987054, 0.006089699920266867, 0.0014491856563836336, 0.0019501671195030212, 0.0001462113723391667, 0.00011509526666486636, 6.392224167939276e-05], "count": [1569]}, "timestamp": {"min": [0.0], "max": [52.266666666666666], "mean": [26.133333333333333], "std": [15.097706472863377], "count": [1569]}, "frame_index": {"min": [0], "max": [1568], "mean": [784.0], "std": [452.93119418590135], "count": [1569]}, "episode_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [1569]}, "index": {"min": [20719], "max": [22287], "mean": [21503.0], "std": [452.93119418590135], "count": [1569]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1569]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3195599317550659]], [[0.31889021396636963]], [[0.31881386041641235]]], "std": [[[0.19505824148654938]], [[0.19507771730422974]], [[0.19507770240306854]]], "count": [1569]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.304909884929657]], [[0.3066733777523041]], [[0.3046812415122986]]], "std": [[[0.171831414103508]], [[0.17393581569194794]], [[0.17288987338542938]]], "count": [1569]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30932942032814026]], [[0.3080097436904907]], [[0.30591630935668945]]], "std": [[[0.17429184913635254]], [[0.17468398809432983]], [[0.17283213138580322]]], "count": [1569]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3133121728897095]], [[0.3126605749130249]], [[0.3127152621746063]]], "std": [[[0.1933922916650772]], [[0.19343653321266174]], [[0.19350633025169373]]], "count": [1569]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6745098233222961]], [[0.6745098233222961]], [[0.6745098233222961]]], "mean": [[[0.0073947724886238575]], [[0.0073947724886238575]], [[0.0073947724886238575]]], "std": [[[0.055920638144016266]], [[0.055920638144016266]], [[0.055920638144016266]]], "count": [1569]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.9607843160629272]], [[0.9607843160629272]], [[0.9607843160629272]]], "mean": [[[0.47414693236351013]], [[0.47414693236351013]], [[0.47414693236351013]]], "std": [[[0.15292365849018097]], [[0.15292365849018097]], [[0.15292365849018097]]], "count": [1569]}}}
+{"episode_index": 14, "stats": {"observation.state": {"min": [0.7591436505317688, -0.7833531498908997, 1.1984224101979635e-07, 1.090906023979187, -0.8612584471702576, -0.7699995040893555, 0.2899670898914337, 0.0076383017003536224, -0.22391679883003235, -0.25682348012924194, -0.31721508502960205, 0.0025149143766611814, 0.0030985635239630938, -0.0002489937760401517, 0.0034062855411320925, 0.000832748191896826, 0.003481498919427395, -0.00071460020262748, 0.0034853529650717974, 0.0008722128113731742, 0.003271510126069188, -0.0011745761148631573, 0.0030187482479959726, 0.0008762036450207233, 0.006173769943416119, 0.0032761709298938513, -0.012424439191818237, 0.00640092371031642, 0.0008473811321891844, 0.27438002824783325, -1.000632882118225, 0.0006413956871256232, 1.1692073345184326, -1.7165298461914062, -0.7692991495132446, -0.41624125838279724, 0.007640469819307327, -0.3146096169948578, -0.08773205429315567, -0.26095855236053467, 0.0033140992745757103, 0.0031596466433256865, 6.991469854256138e-05, 0.0034782616421580315, 0.0010278542758896947, 0.0032084642443805933, -5.666773722623475e-05, 0.003394584869965911, 0.0013861398911103606, 0.0033151761163026094, -0.00018226838437840343, 0.0034977628383785486, 0.0011293981224298477, 0.01038880180567503, 0.0032859838102012873, -0.00022838744916953146, 0.006766477599740028, 0.0008664483320899308, 0.5616286993026733, -1.107150673866272, 0.41321608424186707, -0.03298058733344078, -0.006327670533210039, -0.11140535771846771, -0.8572076559066772], "max": [1.0500197410583496, -0.4930936098098755, 0.364208847284317, 1.5699999332427979, 5.992112619424006e-07, -0.31136828660964966, 0.5200028419494629, 1.2527493238449097, -4.516920671449043e-05, 0.5699076652526855, -0.002386109670624137, 0.9177785515785217, 1.144121527671814, 0.2434893250465393, 0.47619104385375977, 0.09644802659749985, 1.2849669456481934, 0.2051815390586853, 0.03396216034889221, 0.199251189827919, 1.0573087930679321, 0.1642168015241623, 0.21856176853179932, 0.34606364369392395, 0.06960689276456833, 0.7841944098472595, 0.2435704916715622, 0.13386911153793335, 0.11942442506551743, 1.0743001699447632, -0.34710589051246643, 0.8553125858306885, 1.8096979856491089, -0.000987380277365446, 0.12052115797996521, 0.5191452503204346, 1.3290382623672485, -3.252175520174205e-05, 0.5381906628608704, 0.31470566987991333, 0.6108788847923279, 1.4606068134307861, 0.1364125907421112, 0.10804665088653564, 0.5171889662742615, 1.4666812419891357, 0.22518566250801086, 1.653337001800537, 1.1324549913406372, 1.466935396194458, 0.2518118619918823, 1.656264305114746, 0.9476913809776306, 0.14041045308113098, 1.4679635763168335, 0.20022791624069214, 1.6534684896469116, 1.308063268661499, 0.5629709362983704, -1.1065753698349, 0.5442755818367004, 0.0, 0.007190534844994545, 0.023393206298351288, -0.5998823642730713], "mean": [0.9299686551094055, -0.5701991319656372, 0.2084096372127533, 1.1913866996765137, -0.7381531596183777, -0.48612353205680847, 0.38737261295318604, 1.206843376159668, -0.17577260732650757, 0.4445052146911621, -0.30678194761276245, 0.7795764803886414, 1.0689400434494019, 0.20935016870498657, 0.31298670172691345, 0.08945301920175552, 1.2002023458480835, 0.17755557596683502, 0.023609040305018425, 0.17555643618106842, 1.004516363143921, 0.0889175608754158, 0.15438824892044067, 0.33151766657829285, 0.054337117820978165, 0.7218056917190552, 0.10252315551042557, 0.11023648083209991, 0.09630823880434036, 0.8175575733184814, -0.6929469704627991, 0.4504450559616089, 1.3971748352050781, -1.2391033172607422, -0.20781777799129486, -0.12821607291698456, 1.2498890161514282, -0.24263927340507507, 0.23833727836608887, -0.10900494456291199, 0.5684492588043213, 1.2027697563171387, 0.07229240983724594, 0.09943699091672897, 0.44295749068260193, 1.3910441398620605, 0.17267271876335144, 1.4240187406539917, 1.0451573133468628, 1.338586449623108, 0.16453364491462708, 1.4592232704162598, 0.8672483563423157, 0.11203724145889282, 1.4166502952575684, 0.1256723403930664, 1.422446608543396, 1.1285916566848755, 0.5624969005584717, -1.1067800521850586, 0.4226057827472687, -0.027819205075502396, 0.00023862102534621954, -0.04337768256664276, -0.7106283903121948], "std": [0.0560479536652565, 0.0838158130645752, 0.04432853311300278, 0.12808169424533844, 0.1806764006614685, 0.056685082614421844, 0.030412646010518074, 0.16635990142822266, 0.025669574737548828, 0.18632614612579346, 0.04056983068585396, 0.10406844317913055, 0.1606101393699646, 0.0444227010011673, 0.10263030976057053, 0.012504691258072853, 0.20173050463199615, 0.030117498710751534, 0.007652464788407087, 0.05339110642671585, 0.15313920378684998, 0.025413015857338905, 0.0577201321721077, 0.05241190269589424, 0.009366681799292564, 0.10711605846881866, 0.038194987922906876, 0.033123962581157684, 0.030081763863563538, 0.22731569409370422, 0.16405251622200012, 0.18956351280212402, 0.18234480917453766, 0.36662858724594116, 0.17317955195903778, 0.17903178930282593, 0.15922927856445312, 0.057544298470020294, 0.20545411109924316, 0.10575323551893234, 0.0762123316526413, 0.2125929743051529, 0.030864186584949493, 0.01413133554160595, 0.07503916323184967, 0.1968669593334198, 0.025713257491588593, 0.5347971320152283, 0.19482991099357605, 0.2588920593261719, 0.0293148010969162, 0.4673256576061249, 0.14343349635601044, 0.0278029628098011, 0.18267174065113068, 0.023540476337075233, 0.5285228490829468, 0.4139760732650757, 8.348746632691473e-05, 4.8605284973746166e-05, 0.015416346490383148, 0.005144539289176464, 0.0031568079721182585, 0.031459107995033264, 0.07662085443735123], "count": [1483]}, "observation.state.joint_torque": {"min": [-44.645999908447266, -23.513999938964844, -22.04599952697754, -18.618000030517578, -0.2824000120162964, -3.1175999641418457, 0.9544000029563904, -1.1971158981323242, -0.6023784875869751, -0.7779237031936646, -0.7418856620788574, -0.3702370822429657, -0.36363694071769714, -0.5871921181678772, -0.2291153371334076, -0.04423718526959419, -0.4998808801174164, -0.3617180287837982, -0.08633331209421158, -0.020691584795713425, -0.7992336750030518, -0.9920860528945923, -0.11953844130039215, -0.027826614677906036, -0.0809234008193016, -0.4432724714279175, -0.5689623355865479, -0.10791664570569992, -0.027826614677906036, 12.040499687194824, -30.434999465942383, 2.312000036239624, -23.33099937438965, -1.7768000364303589, -3.0, -2.7607998847961426, -1.076130747795105, -0.8952898383140564, -0.5430553555488586, -0.8487569689750671, -0.1145576685667038, -0.520029604434967, -1.1801409721374512, -0.11289741843938828, -0.07206379622220993, -0.40105608105659485, -0.3789883852005005, -0.43830758333206177, -0.026399608701467514, -0.7301523089408875, -0.6044625043869019, -0.24405762553215027, -0.02925362065434456, -0.08312240988016129, -0.7704498171806335, -1.2233169078826904, -0.34201276302337646, -0.05993425101041794, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-13.534500122070312, 18.6299991607666, -2.4570000171661377, 4.105999946594238, 1.7591999769210815, 1.7824000120162964, 3.444000005722046, 0.8609046339988708, 1.2022099494934082, 1.358259677886963, 0.9543855786323547, 0.2025512456893921, 1.4689397811889648, 1.0698026418685913, 0.7653780579566956, 0.13913308084011078, 0.7819633483886719, 0.8366528153419495, 0.07471152395009995, 0.025686107575893402, 0.7330306768417358, 0.20724429190158844, 0.09297433495521545, 0.02354559674859047, 0.17372143268585205, 0.3789883553981781, 0.4471103549003601, 0.10293588042259216, 0.019264578819274902, 48.393001556396484, 24.89699935913086, 26.781999588012695, 3.2929999828338623, 0.04639999940991402, 2.947999954223633, 1.3832000494003296, 1.2964509725570679, 3.5505945682525635, 1.3992685079574585, 1.1059937477111816, 0.4515896737575531, 2.1444027423858643, 0.3713126480579376, 1.0559228658676147, 0.21405088901519775, 0.7378280162811279, 0.3713126480579376, 0.19757047295570374, 0.028540121391415596, 0.9968833923339844, 1.3183038234710693, 0.3088076114654541, 0.02497260272502899, 0.49125784635543823, 0.5468946695327759, 0.39433982968330383, 0.4034422039985657, 0.07848532497882843, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-31.579755783081055, 0.9226690530776978, -14.348427772521973, -5.822049617767334, 0.21918469667434692, 0.9021419882774353, 1.776728868484497, -0.061851538717746735, 0.06050929054617882, 0.35302844643592834, 0.15973040461540222, 0.020377613604068756, 0.4844493567943573, 0.43003860116004944, 0.23387882113456726, 0.06413250416517258, 0.061735279858112335, 0.08042341470718384, -0.0022200176026672125, 0.0022684880532324314, 0.02309640310704708, -0.10278187692165375, 0.0011262394255027175, 0.0008073223871178925, 0.008644169196486473, 0.03339754790067673, 0.03731556981801987, 0.0013467873213812709, 0.0021640858612954617, 28.165355682373047, 4.600604057312012, 14.095697402954102, -6.642173767089844, -0.6066694259643555, 1.2408735752105713, -1.0865343809127808, 0.04314699023962021, 0.2838722765445709, 0.13287808001041412, 0.07949521392583847, 0.02338462322950363, 0.30568939447402954, -0.10765804350376129, 0.12835797667503357, 0.03097701072692871, 0.01108457800000906, -0.0014149302151054144, 0.001270662760362029, 0.001969711622223258, -0.012297687120735645, 0.1453377902507782, 0.002606258261948824, 1.925701326399576e-06, 0.23281292617321014, 0.004333431366831064, -0.14984862506389618, 0.0024484028108417988, 0.0002877100196201354, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.0905258655548096, 1.9543983936309814, 0.8821929097175598, 1.0926668643951416, 0.265583336353302, 0.4322226643562317, 0.29379671812057495, 0.2220640778541565, 0.17883187532424927, 0.36722293496131897, 0.2574636936187744, 0.04424815624952316, 0.36696216464042664, 0.3266845643520355, 0.1559833139181137, 0.03365880250930786, 0.14584040641784668, 0.15377415716648102, 0.008617294020950794, 0.005712492391467094, 0.12931270897388458, 0.12798376381397247, 0.013455897569656372, 0.005365199875086546, 0.020824166014790535, 0.08758040517568588, 0.08452257513999939, 0.018595676869153976, 0.0075816260650753975, 4.7615227699279785, 3.36159610748291, 2.1083984375, 2.4985926151275635, 0.24948716163635254, 0.6715863943099976, 0.6502615809440613, 0.27819886803627014, 0.6722081899642944, 0.2931760847568512, 0.31119078397750854, 0.062488410621881485, 0.6105079054832458, 0.25882241129875183, 0.27341488003730774, 0.06044905632734299, 0.08991070836782455, 0.07309028506278992, 0.023154573515057564, 0.005630337167531252, 0.15891329944133759, 0.23231624066829681, 0.018980540335178375, 0.0077046602964401245, 0.17390529811382294, 0.11420676112174988, 0.24809961020946503, 0.02860039658844471, 0.005863685626536608, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1483]}, "observation.state.tcp": {"min": [0.33384087681770325, 0.14367817342281342, 1.02879798412323, -1.2088844776153564, 1.1326850652694702, -1.530348300933838, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2581920027732849, -0.3175211250782013, 0.9991854429244995, -0.24418887495994568, 0.9281202554702759, 0.14774280786514282, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4124888777732849, 0.24876075983047485, 1.1496316194534302, -0.36018458008766174, 1.3901915550231934, -1.1523836851119995, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4213799238204956, -0.09356938302516937, 1.2650104761123657, 1.208586573600769, 2.0780723094940186, 1.4921330213546753, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3839142620563507, 0.1720426231622696, 1.0897058248519897, -0.5453504920005798, 1.2438753843307495, -1.2593703269958496, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.35606202483177185, -0.20206667482852936, 1.1260048151016235, 0.3464781939983368, 1.5817348957061768, 0.8175290822982788, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.020614583045244217, 0.019514700397849083, 0.019702203571796417, 0.18499726057052612, 0.03769654408097267, 0.08856151252985, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.053812261670827866, 0.06033805385231972, 0.0809902772307396, 0.344007670879364, 0.28621941804885864, 0.38611751794815063, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1483]}, "action": {"min": [0.7589869499206543, -0.7834591269493103, 2.2141581861931545e-17, 1.0908015966415405, -0.8612474799156189, -0.7699999809265137, 0.2898060083389282, 0.0, -0.22193723917007446, -0.25523415207862854, -0.3490658402442932, 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, -0.011398382484912872, 0.0, 0.0, 0.27275073528289795, -1.0007364749908447, 0.00105217972304672, 1.1691125631332397, -1.7165459394454956, -0.7688202261924744, -0.4163210690021515, 0.0, -0.3345889449119568, -0.09190675616264343, -0.262204110622406, 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, 0.5624915957450867, -1.1069231033325195, 0.41248124837875366, -0.033622998744249344, -0.007631473243236542, -0.11212676018476486, -0.8577998280525208], "max": [1.0499999523162842, -0.49308648705482483, 0.36455610394477844, 1.5700000524520874, 6.165400208241036e-18, -0.3111017942428589, 0.5199999809265137, 1.2593022584915161, 0.0, 0.577276349067688, 0.0, 0.9238402247428894, 1.1549522876739502, 0.24439328908920288, 0.4795980155467987, 0.09802136570215225, 1.292015790939331, 0.20796102285385132, 0.041707299649715424, 0.2025909423828125, 1.0596160888671875, 0.16405075788497925, 0.22193649411201477, 0.34918221831321716, 0.07945062965154648, 0.794506311416626, 0.24429702758789062, 0.14388731122016907, 0.12356214225292206, 1.0742822885513306, -0.3470780551433563, 0.8568564057350159, 1.8098660707473755, -0.0016403690678998828, 0.12067627906799316, 0.5185720324516296, 1.3366727828979492, 0.0, 0.5450788140296936, 0.3490658402442932, 0.6166601181030273, 1.5333720445632935, 0.14046591520309448, 0.1167839989066124, 0.5215153098106384, 1.5707963705062866, 0.22665637731552124, 1.7453292608261108, 1.1368235349655151, 1.5707963705062866, 0.25407618284225464, 1.7453292608261108, 0.9510204792022705, 0.15518131852149963, 1.5707963705062866, 0.20335906744003296, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106767177581787, 0.5442397594451904, 9.446209532693076e-21, 0.008054615929722786, 0.02375597320497036, -0.5999194979667664], "mean": [0.9300820827484131, -0.5702357292175293, 0.20839427411556244, 1.1913909912109375, -0.738203763961792, -0.48612409830093384, 0.3874875009059906, 1.2028961181640625, -0.17605197429656982, 0.45012810826301575, -0.34028512239456177, 0.7845849394798279, 1.0747034549713135, 0.21120120584964752, 0.31743231415748596, 0.0933133065700531, 1.2050721645355225, 0.18067632615566254, 0.024158842861652374, 0.17836175858974457, 1.0098921060562134, 0.08727394789457321, 0.15585163235664368, 0.33370035886764526, 0.07252102345228195, 0.725211501121521, 0.10672475397586823, 0.11538028717041016, 0.09879269450902939, 0.8179529905319214, -0.6933199763298035, 0.45009174942970276, 1.3973878622055054, -1.2381138801574707, -0.20795747637748718, -0.12814150750637054, 1.252581238746643, -0.2418322116136551, 0.23948927223682404, -0.10854963958263397, 0.5714113712310791, 1.212267279624939, 0.0719493180513382, 0.10238269716501236, 0.44721153378486633, 1.46843683719635, 0.1734633594751358, 1.5019828081130981, 1.0474261045455933, 1.4150234460830688, 0.16559670865535736, 1.5355039834976196, 0.8693800568580627, 0.12843850255012512, 1.5086700916290283, 0.12682366371154785, 1.4971657991409302, 1.2023780345916748, 0.5624998211860657, -1.1067826747894287, 0.42266011238098145, -0.027866793796420097, 0.0002263691567350179, -0.043416254222393036, -0.7106698751449585], "std": [0.0561286062002182, 0.08385837078094482, 0.044463202357292175, 0.12825272977352142, 0.18085432052612305, 0.05686343461275101, 0.03045598603785038, 0.17630408704280853, 0.027772219851613045, 0.18953712284564972, 0.050304118543863297, 0.11724310368299484, 0.17107002437114716, 0.04586414992809296, 0.1048431321978569, 0.014014936983585358, 0.20909839868545532, 0.03297886624932289, 0.009579543955624104, 0.05440228059887886, 0.16206753253936768, 0.02597789838910103, 0.05956193059682846, 0.05562111735343933, 0.011477102525532246, 0.1147710382938385, 0.040128931403160095, 0.035247184336185455, 0.030531685799360275, 0.22763827443122864, 0.1643250584602356, 0.1895267367362976, 0.18254134058952332, 0.36687880754470825, 0.17320527136325836, 0.1787635236978531, 0.17216281592845917, 0.06231193244457245, 0.20639413595199585, 0.11084320396184921, 0.08561467379331589, 0.22688736021518707, 0.030477723106741905, 0.015757644549012184, 0.07979000359773636, 0.23732934892177582, 0.02798527106642723, 0.5674664378166199, 0.200529083609581, 0.30111223459243774, 0.031042713671922684, 0.49843791127204895, 0.14856287837028503, 0.03190068155527115, 0.21862070262432098, 0.025145670399069786, 0.5607571601867676, 0.4451706111431122, 2.4316392227774486e-05, 2.2099915440776385e-05, 0.016048751771450043, 0.005220434162765741, 0.0032013386953622103, 0.03148844465613365, 0.07665732502937317], "count": [1483]}, "observation.state.tcp_pose": {"min": [0.33384087681770325, 0.14367817342281342, 1.02879798412323, -1.2088844776153564, 1.1326850652694702, -1.530348300933838, 0.2581920027732849, -0.3175211250782013, 0.9991854429244995, -0.24418887495994568, 0.9281202554702759, 0.14774280786514282], "max": [0.4124888777732849, 0.24876075983047485, 1.1496316194534302, -0.36018458008766174, 1.3901915550231934, -1.1523836851119995, 0.4213799238204956, -0.09356938302516937, 1.2650104761123657, 1.208586573600769, 2.0780723094940186, 1.4921330213546753], "mean": [0.3839142620563507, 0.1720426231622696, 1.0897058248519897, -0.5453504920005798, 1.2438753843307495, -1.2593703269958496, 0.35606202483177185, -0.20206667482852936, 1.1260048151016235, 0.3464781939983368, 1.5817348957061768, 0.8175290822982788], "std": [0.020614583045244217, 0.019514700397849083, 0.019702203571796417, 0.18499726057052612, 0.03769654408097267, 0.08856151252985, 0.053812261670827866, 0.06033805385231972, 0.0809902772307396, 0.344007670879364, 0.28621941804885864, 0.38611751794815063], "count": [1483]}, "action.tcp_pose": {"min": [0.33388662338256836, 0.1438397318124771, 1.0285916328430176, -1.208855390548706, 1.1322758197784424, -1.5319921970367432, 0.25834429264068604, -0.3183037042617798, 0.9992036819458008, -0.2443237006664276, 0.9290733337402344, 0.14728260040283203], "max": [0.4128713011741638, 0.2494417428970337, 1.1501104831695557, -0.36012235283851624, 1.3902006149291992, -1.152906894683838, 0.42148056626319885, -0.09317755699157715, 1.2650922536849976, 1.2078585624694824, 2.0780415534973145, 1.4922622442245483], "mean": [0.3839414715766907, 0.17205959558486938, 1.0897326469421387, -0.5451953411102295, 1.2437505722045898, -1.2593941688537598, 0.35603663325309753, -0.20213745534420013, 1.1261106729507446, 0.34689539670944214, 1.5818068981170654, 0.8179028630256653], "std": [0.020708205178380013, 0.01952849142253399, 0.01986810564994812, 0.18487948179244995, 0.03788827359676361, 0.08859173953533173, 0.053939539939165115, 0.06056356430053711, 0.08101886510848999, 0.3440716862678528, 0.28581592440605164, 0.3864152729511261], "count": [1483]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.67565745111261], "std": [6.855457450357706], "count": [1483]}, "observation.tactile": {"min": [-7.928932189941406, -0.008209228515625, -0.000732421875, -0.14616107940673828, -0.024857044219970703, -0.16166305541992188, -0.11330986022949219, -0.002593994140625, -0.0020751953125, -0.17920970916748047, -0.01543426513671875, -0.008699417114257812, -0.6833572387695312, -0.024322509765625, -0.0032958984375, -0.037896156311035156, -0.009537220001220703, -0.01381373405456543, -0.03081512451171875, -0.0130615234375, -0.00396728515625, -0.00033473968505859375, -0.0003204345703125, -0.0004680156707763672, -0.015600204467773438, -0.001739501953125, -0.0030517578125, -0.0001354217529296875, -0.001186370849609375, -0.00030291080474853516, -0.67132568359375, -0.024749755859375, 0.0, -0.34263134002685547, -0.041233062744140625, -0.02098250389099121, -5.055885314941406, -0.0103759765625, 0.0, -0.20725154876708984, -0.024651050567626953, -0.09739136695861816, -0.021795272827148438, -0.0042724609375, -0.0045166015625, -0.0005884170532226562, -0.0015115737915039062, -0.0005548000335693359, -0.013057708740234375, -0.010162353515625, -0.0150146484375, -0.000438690185546875, -0.0013904571533203125, -0.0006287097930908203, -0.019250869750976562, -0.006927490234375, -0.00616455078125, -7.62939453125e-05, -0.0013933181762695312, -0.0004723072052001953], "max": [0.002532958984375, 8.4356689453125, 6.63262939453125, 0.0007038116455078125, 0.002185344696044922, 0.0001385211944580078, 3.550752639770508, 5.56732177734375, 12.44451904296875, 0.00109100341796875, 0.008544921875, 0.06037712097167969, 1.3640060424804688, 2.930938720703125, 2.7867431640625, 0.0014438629150390625, 0.004149913787841797, 0.02234196662902832, 0.008449554443359375, 0.00054931640625, 0.00653076171875, 0.0004215240478515625, 0.0003364086151123047, 1.239776611328125e-05, 0.015970230102539062, 0.007781982421875, 0.0047607421875, 0.0013580322265625, 5.4836273193359375e-05, 3.4809112548828125e-05, 4.73150634765625, 15.055206298828125, 14.9852294921875, 0.0024385452270507812, 0.007862091064453125, 0.10101151466369629, 0.7492904663085938, 4.95733642578125, 9.30877685546875, 0.010453224182128906, 0.014464855194091797, 0.008916616439819336, 0.028406143188476562, 0.0242767333984375, 0.046783447265625, 0.001407623291015625, 0.0007872581481933594, 0.000247955322265625, 0.1064910888671875, 0.035675048828125, 0.01739501953125, 0.001346588134765625, 0.00139617919921875, 0.0013158321380615234, 0.010168075561523438, 0.0270233154296875, 0.0076904296875, 0.0012111663818359375, 0.00030732154846191406, 2.7418136596679688e-05], "mean": [-4.844892501831055, 4.87152624130249, 3.7223048210144043, -0.08181385695934296, -0.01166477333754301, -0.10041937977075577, 1.2450891733169556, 1.9838980436325073, 5.897798538208008, -0.09558653831481934, -0.0046346765011549, 0.022920116782188416, 0.04620932415127754, 0.3229002356529236, 0.3171460032463074, -0.0039840321987867355, -0.0011109434999525547, 0.0003170440613757819, -0.008677396923303604, -0.007622562348842621, 0.0011978200636804104, -4.9047025640902575e-06, 0.00011160159920109436, -0.0002256143925478682, 0.0008068509050644934, 0.0025107036344707012, 0.0005101353744976223, 0.0002896108780987561, -0.00027071713702753186, -9.328179294243455e-05, 0.7960522770881653, 2.5849685668945312, 2.567692518234253, -0.059350550174713135, -0.004555523861199617, 0.016970932483673096, -0.8922592997550964, 0.9515534043312073, 1.5500651597976685, -0.032137732952833176, -0.0033788138534873724, -0.017540233209729195, 0.005309996660798788, 0.0014330606209114194, 0.0007386982324533165, 0.00039383277180604637, -0.0004929930437356234, -0.0002670596004463732, 0.010528752580285072, -0.0005755125312134624, -0.0012650287244468927, 0.0005702522466890514, -0.00048151068040169775, -0.0002828732831403613, 0.0006762226112186909, -0.0006501602474600077, -0.0013026869855821133, 0.00041727462667040527, -0.00022519109188579023, -0.00015541193715762347], "std": [2.1887853145599365, 2.281369209289551, 1.7322678565979004, 0.038254715502262115, 0.007162244524806738, 0.04482411593198776, 0.5605556964874268, 0.8997055888175964, 2.5569300651550293, 0.040059566497802734, 0.003946651238948107, 0.010459975339472294, 0.15042537450790405, 0.2852541506290436, 0.33435094356536865, 0.005623436998575926, 0.0010157297365367413, 0.0026461640372872353, 0.004807330202311277, 0.002136406721547246, 0.001668105716817081, 0.00011777025065384805, 7.965471013449132e-05, 7.93222279753536e-05, 0.001683353795669973, 0.0013263535220175982, 0.0011313041904941201, 0.00014623405877500772, 0.0001564527046866715, 5.717754902434535e-05, 1.2017567157745361, 4.40343713760376, 4.191380023956299, 0.09659972041845322, 0.010422984138131142, 0.027555271983146667, 1.3909237384796143, 1.380694031715393, 2.4695067405700684, 0.055008288472890854, 0.006478631868958473, 0.02702087163925171, 0.0070030600763857365, 0.002100216457620263, 0.0024190277326852083, 0.0003300200041849166, 0.0003139838809147477, 9.126307850237936e-05, 0.008639069274067879, 0.0024551430251449347, 0.0035050869919359684, 0.0002692491398192942, 0.00026213203091174364, 0.00011471370089566335, 0.0032691070809960365, 0.001330046565271914, 0.0017713365377858281, 0.00021551588724832982, 0.00022878035088069737, 7.944222306832671e-05], "count": [1483]}, "timestamp": {"min": [0.0], "max": [49.4], "mean": [24.7], "std": [14.270170909199992], "count": [1483]}, "frame_index": {"min": [0], "max": [1482], "mean": [741.0], "std": [428.1051272759998], "count": [1483]}, "episode_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [1483]}, "index": {"min": [22288], "max": [23770], "mean": [23029.0], "std": [428.1051272759998], "count": [1483]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1483]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.318906307220459]], [[0.31825220584869385]], [[0.3181644380092621]]], "std": [[[0.19402310252189636]], [[0.19405528903007507]], [[0.1940675526857376]]], "count": [1483]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30524903535842896]], [[0.30716022849082947]], [[0.30532562732696533]]], "std": [[[0.1727461814880371]], [[0.1748933643102646]], [[0.17381185293197632]]], "count": [1483]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3096121549606323]], [[0.3085634708404541]], [[0.30650755763053894]]], "std": [[[0.17439192533493042]], [[0.17503590881824493]], [[0.1732611060142517]]], "count": [1483]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31293314695358276]], [[0.3122842013835907]], [[0.3123094439506531]]], "std": [[[0.1923494040966034]], [[0.19243240356445312]], [[0.1925143450498581]]], "count": [1483]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.658823549747467]], [[0.658823549747467]], [[0.658823549747467]]], "mean": [[[0.008724264800548553]], [[0.008724264800548553]], [[0.008724264800548553]]], "std": [[[0.06349872797727585]], [[0.06349872797727585]], [[0.06349872797727585]]], "count": [1483]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.95686274766922]], [[0.95686274766922]], [[0.95686274766922]]], "mean": [[[0.47426852583885193]], [[0.47426852583885193]], [[0.47426852583885193]]], "std": [[[0.15313942730426788]], [[0.15313942730426788]], [[0.15313942730426788]]], "count": [1483]}}}
+{"episode_index": 15, "stats": {"observation.state": {"min": [0.7305205464363098, -0.7999131679534912, 0.00018180070037487894, 1.1319259405136108, -0.7913600206375122, -0.7697091698646545, 0.3299275040626526, 0.0076464321464300156, -0.20520377159118652, -0.19334040582180023, -0.3184943199157715, 0.0024971861857920885, 0.0031670061871409416, -0.00012707285350188613, 0.0034186951816082, 0.000810577068477869, 0.0038592827040702105, -0.000652290356811136, 0.0036310784053057432, 0.0008744299411773682, 0.0033296493347734213, 8.4142797277309e-05, 0.0030857606325298548, 0.0008624575566500425, 0.006371784023940563, 0.0032072379253804684, 0.00012707285350188613, 0.006428934168070555, 0.0008495982619933784, 0.35961756110191345, -1.010934591293335, 0.0012283830437809229, 1.1590617895126343, -1.75053870677948, -0.7685080766677856, -0.429267019033432, 0.006377898622304201, -0.3189397156238556, -0.07617916911840439, -0.31225213408470154, 0.003319062991067767, 0.0031400215812027454, 2.8701533665298484e-05, 0.0034729433245956898, 0.0010837254812940955, 0.003311741631478071, 4.072215597261675e-05, 0.003398130415007472, 0.0014739377656951547, 0.0033110056538134813, -0.00020042168034706265, 0.003496699035167694, 0.0012939079897478223, 0.010085893794894218, 0.003295060247182846, -0.00025022035697475076, 0.006797324866056442, 0.0008513719658367336, 0.5616286993026733, -1.1072465181350708, 0.4085182547569275, -0.02828277088701725, -0.006711165886372328, -0.1215679794549942, -0.8128180503845215], "max": [1.0499498844146729, -0.5074614882469177, 0.35401976108551025, 1.5961556434631348, -0.00025214807828888297, -0.3080010414123535, 0.5198988318443298, 1.2485724687576294, -4.986668500350788e-05, 0.5796000361442566, -0.0024703943636268377, 0.9545222520828247, 1.1630057096481323, 0.2325831651687622, 0.2305162250995636, 0.09171093255281448, 1.2957297563552856, 0.20878224074840546, 0.04541737586259842, 0.21437324583530426, 1.050519347190857, 0.16105613112449646, 0.003169437637552619, 0.3460747301578522, 0.06189610809087753, 0.7360092997550964, 0.2304498553276062, 0.04558579623699188, 0.04292954504489899, 1.2892298698425293, -0.3726707696914673, 0.8161301612854004, 1.7893271446228027, -0.0018915899563580751, 0.19240769743919373, 0.5185574293136597, 1.3253068923950195, 0.0011505511356517673, 0.5516871809959412, 0.31415867805480957, 0.6586225032806396, 1.4631049633026123, 0.13794083893299103, 0.11205250024795532, 0.5143669843673706, 1.4668748378753662, 0.2568095922470093, 1.6533528566360474, 1.1863863468170166, 1.4670121669769287, 0.2911795973777771, 1.6537691354751587, 0.9519509077072144, 0.13887770473957062, 1.4689252376556396, 0.20519942045211792, 1.6534485816955566, 1.3080722093582153, 0.5629709362983704, -1.106479525566101, 0.544083833694458, 0.0, 0.008245146833360195, 0.04592354968190193, -0.5717913508415222], "mean": [0.8951159715652466, -0.5845248699188232, 0.23405548930168152, 1.2335965633392334, -0.6808077096939087, -0.4644085466861725, 0.4245217740535736, 1.2097852230072021, -0.17220400273799896, 0.4601450562477112, -0.30853700637817383, 0.7963763475418091, 1.1113866567611694, 0.1992417722940445, 0.18468305468559265, 0.08672299981117249, 1.2180730104446411, 0.17743724584579468, 0.02352292090654373, 0.18381913006305695, 0.9976842999458313, 0.08606988191604614, 0.003116805572062731, 0.3359813988208771, 0.05820317193865776, 0.7014451622962952, 0.10592171549797058, 0.03695540875196457, 0.03289508447051048, 0.8593509197235107, -0.6974873542785645, 0.41965749859809875, 1.4083232879638672, -1.137611985206604, -0.19317787885665894, -0.11176371574401855, 1.244962215423584, -0.24102097749710083, 0.2209371030330658, -0.06953408569097519, 0.5850582122802734, 1.2336550951004028, 0.08188874274492264, 0.10025540739297867, 0.46125560998916626, 1.4088146686553955, 0.1695384979248047, 1.4043614864349365, 1.0562522411346436, 1.3513789176940918, 0.1640740931034088, 1.45439875125885, 0.852139949798584, 0.11111534386873245, 1.4147473573684692, 0.12439411878585815, 1.396673560142517, 1.106831669807434, 0.5624964833259583, -1.1067780256271362, 0.4201611578464508, -0.02487914077937603, -0.0005841622478328645, -0.041069336235523224, -0.6980823874473572], "std": [0.052878230810165405, 0.0732044205069542, 0.04552049562335014, 0.10586662590503693, 0.16351985931396484, 0.048100996762514114, 0.02502821385860443, 0.1507250815629959, 0.021917471662163734, 0.18947601318359375, 0.03777500241994858, 0.10035838931798935, 0.15051312744617462, 0.03501543030142784, 0.06260013580322266, 0.010999084450304508, 0.19552728533744812, 0.025389734655618668, 0.008379308506846428, 0.05528010055422783, 0.13870275020599365, 0.01885661855340004, 8.110004273476079e-06, 0.043562062084674835, 0.007802220527082682, 0.0913347527384758, 0.02684575878083706, 0.01039008516818285, 0.009846885688602924, 0.25411751866340637, 0.1561574637889862, 0.18432140350341797, 0.16827665269374847, 0.4733787178993225, 0.20201261341571808, 0.18211543560028076, 0.15024442970752716, 0.05573112517595291, 0.19415044784545898, 0.20143777132034302, 0.0738898441195488, 0.20195206999778748, 0.027933761477470398, 0.013554946519434452, 0.06549804657697678, 0.18063096702098846, 0.022881779819726944, 0.5529677271842957, 0.1902351677417755, 0.27172526717185974, 0.027449214830994606, 0.4652247726917267, 0.14480920135974884, 0.026863139122724533, 0.17488092184066772, 0.022223912179470062, 0.5791282653808594, 0.456333190202713, 8.167282067006454e-05, 5.1389615691732615e-05, 0.014075222425162792, 0.0037062447518110275, 0.003736223094165325, 0.040686823427677155, 0.07109586149454117], "count": [1505]}, "observation.state.joint_torque": {"min": [-52.26150131225586, -12.619500160217285, -24.665000915527344, -11.338000297546387, -0.4544000029563904, -1.2416000366210938, 0.5127999782562256, -1.1525423526763916, -0.5106845498085022, -0.6959061622619629, -0.9369879364967346, -0.37687814235687256, -0.4403941035270691, -0.5900704860687256, -0.29552558064460754, -0.04281017929315567, -0.47301584482192993, -0.3358124792575836, -0.048147425055503845, -0.022118592634797096, -0.7646929025650024, -1.2175601720809937, -0.006641024723649025, -0.028540121391415596, -0.07652539014816284, -0.37802889943122864, -0.5257863998413086, -0.1145576685667038, -0.02925362065434456, 16.51650047302246, -13.888500213623047, 5.4079999923706055, -15.586000442504883, -1.7888000011444092, -1.0751999616622925, -2.875999927520752, -1.7956737279891968, -0.9169397950172424, -1.0724411010742188, -0.8164470791816711, -0.13780125975608826, -0.6821790337562561, -1.18205988407135, -0.09961536526679993, -0.02425910159945488, -1.2751280069351196, -0.41065067052841187, -0.1494230479001999, -0.06635577231645584, -1.0343024730682373, -0.5651244521141052, -0.21417304873466492, -0.03781566023826599, -0.08136319369077682, -0.8740719556808472, -1.197411298751831, -0.7122498750686646, -0.14769510924816132, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-10.845000267028809, 14.131500244140625, -2.0260000228881836, 1.4119999408721924, 1.7400000095367432, 1.9215999841690063, 4.228000164031982, 0.7246371507644653, 0.7284577488899231, 1.4191514253616333, 0.9991223812103271, 0.22247432172298431, 0.6092597842216492, 0.6169355511665344, 0.27892303466796875, 0.06564227491617203, 0.8548825979232788, 0.8548825979232788, 0.04482691362500191, 0.08205283433198929, 0.6514762043952942, 0.22931194305419922, 0.0016602561809122562, 0.021405089646577835, 0.05981294810771942, 0.37035319209098816, 0.33677196502685547, 0.08633331209421158, 0.021405089646577835, 42.2864990234375, 17.892000198364258, 21.365999221801758, -0.5410000085830688, 0.04800000041723251, 2.9711999893188477, 0.9279999732971191, 1.3919655084609985, 3.321359634399414, 1.3992685079574585, 1.1880112886428833, 0.3005063533782959, 2.1405649185180664, 0.6198139190673828, 1.0559228658676147, 0.21405088901519775, 0.9690588712692261, 0.41065070033073425, 0.27892303466796875, 0.05636673793196678, 0.6975305080413818, 1.139843463897705, 0.4167242646217346, 0.04923170804977417, 0.49213743209838867, 0.6639492511749268, 0.33965036273002625, 0.3702370822429657, 0.09061487764120102, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-31.05394172668457, 1.0717843770980835, -14.499783515930176, -6.234086036682129, 0.27175456285476685, 0.7149971127510071, 1.8922876119613647, -0.010853329673409462, 0.008577058091759682, 0.3243544399738312, 0.09697774797677994, 0.014453616924583912, 0.1126648336648941, 0.10426470637321472, 0.04331332817673683, 0.01921008713543415, 0.16522251069545746, 0.18589718639850616, -0.0014043228002265096, 0.026050148531794548, 0.04036761447787285, -0.22448545694351196, -3.3094806894951034e-06, 0.002983439015224576, 0.0005634156987071037, 0.010658647865056992, 0.013675362803041935, 0.0008373004384338856, 0.0010847122175619006, 28.583988189697266, 4.309749126434326, 14.576725006103516, -6.276407241821289, -0.6402406692504883, 1.1153862476348877, -1.1191924810409546, 3.725704300450161e-05, 0.3260349929332733, 0.13310086727142334, 0.0468473806977272, 0.028158118948340416, 0.2254493683576584, -0.08409126102924347, 0.12844735383987427, 0.03147227317094803, 0.005240385886281729, -0.00118324626237154, 0.002439093077555299, 0.0011700517497956753, 0.013303174637258053, 0.15607529878616333, 0.0018455886747688055, -0.0004366340290289372, 0.25219038128852844, 0.0005546377506107092, -0.16331419348716736, 0.0018389717442914844, 0.0001498129277024418, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.067439079284668, 1.662881851196289, 0.9705309271812439, 0.9651867747306824, 0.24626296758651733, 0.40057992935180664, 0.2945886552333832, 0.14085765182971954, 0.08733285963535309, 0.32922548055648804, 0.22788114845752716, 0.04005502164363861, 0.146336168050766, 0.15333470702171326, 0.06763244420289993, 0.016179047524929047, 0.19254843890666962, 0.17985813319683075, 0.008016587235033512, 0.01736740581691265, 0.18927770853042603, 0.223058819770813, 0.0001865155645646155, 0.0072593847289681435, 0.006112402770668268, 0.07970532774925232, 0.07487767189741135, 0.015371106564998627, 0.007489455863833427, 4.3918657302856445, 3.097269058227539, 1.6248146295547485, 2.5770680904388428, 0.2834608554840088, 0.7123149633407593, 0.7653254270553589, 0.3767222464084625, 0.6686068177223206, 0.3102968633174896, 0.30938267707824707, 0.05905456095933914, 0.508210301399231, 0.2905295491218567, 0.27025681734085083, 0.05954384431242943, 0.07444567233324051, 0.05177707597613335, 0.02091420628130436, 0.005345603451132774, 0.12985192239284515, 0.24879132211208344, 0.02045566774904728, 0.007215726189315319, 0.18654674291610718, 0.12068351358175278, 0.24832940101623535, 0.028028221800923347, 0.006582914385944605, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1505]}, "observation.state.tcp": {"min": [0.31658363342285156, 0.14385570585727692, 1.0315214395523071, -1.2086217403411865, 1.0705465078353882, -1.5337631702423096, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25950586795806885, -0.27649322152137756, 1.0053248405456543, -0.49990639090538025, 1.0869660377502441, 0.13505668938159943, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4093594253063202, 0.25246503949165344, 1.152160406112671, -0.4222121238708496, 1.3130453824996948, -1.2290334701538086, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.41971126198768616, -0.061819110065698624, 1.2941538095474243, 1.2080414295196533, 2.097604751586914, 1.8022054433822632, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3738814890384674, 0.16874489188194275, 1.0868233442306519, -0.5917905569076538, 1.2285680770874023, -1.340553641319275, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3556084930896759, -0.19665411114692688, 1.1356014013290405, 0.39085865020751953, 1.5597478151321411, 0.8685675263404846, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.01816512830555439, 0.020442280918359756, 0.020053526386618614, 0.16832008957862854, 0.036802027374506, 0.07060807198286057, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05053709074854851, 0.06376805901527405, 0.08389025926589966, 0.4993689954280853, 0.2657640278339386, 0.43814364075660706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1505]}, "action": {"min": [0.7304736375808716, -0.7999784350395203, 9.180110822298218e-18, 1.1319224834442139, -0.7913544178009033, -0.7699999809265137, 0.3299413025379181, 0.0, -0.20400863885879517, -0.1949104368686676, -0.3490658402442932, 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, 0.3596281111240387, -1.0111244916915894, 0.0015647895634174347, 1.158992886543274, -1.750433087348938, -0.7682170867919922, -0.42932748794555664, 0.0, -0.3459978699684143, -0.08164826035499573, -0.3146471381187439, 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, 0.5624915957450867, -1.1069231033325195, 0.4075208306312561, -0.028889548033475876, -0.007452949415892363, -0.12188782542943954, -0.8131142258644104], "max": [1.0499999523162842, -0.5074677467346191, 0.3539714813232422, 1.5964094400405884, -1.9703677110307084e-17, -0.3075812757015228, 0.5199999809265137, 1.252495288848877, 0.0, 0.5872951745986938, 0.0, 0.9599078297615051, 1.1709513664245605, 0.2312583327293396, 0.2356543242931366, 0.09387961030006409, 1.3048497438430786, 0.20661872625350952, 0.04915863648056984, 0.21429693698883057, 1.0566203594207764, 0.16309207677841187, 0.0, 0.3504476249217987, 0.07460896670818329, 0.7460896968841553, 0.2302035689353943, 0.05422620847821236, 0.046709705144166946, 1.289316177368164, -0.3726671636104584, 0.8161669373512268, 1.7894399166107178, -0.0024349347222596407, 0.1928933560848236, 0.5177425146102905, 1.3253593444824219, 0.0, 0.554474413394928, 0.3490658402442932, 0.6639258861541748, 1.5224655866622925, 0.13691848516464233, 0.11539437621831894, 0.5193294882774353, 1.5707963705062866, 0.2577194571495056, 1.7453292608261108, 1.189314603805542, 1.5707963705062866, 0.29367226362228394, 1.7453292608261108, 0.9557662010192871, 0.15792331099510193, 1.5707963705062866, 0.20431798696517944, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.1066712141036987, 0.5442397594451904, -9.076785210442381e-19, 0.008310179226100445, 0.04594374820590019, -0.5703557729721069], "mean": [0.8951528668403625, -0.584601104259491, 0.23405885696411133, 1.2336307764053345, -0.6807429790496826, -0.4644390642642975, 0.4245285093784332, 1.2086819410324097, -0.1738646924495697, 0.4668654799461365, -0.3404427170753479, 0.8005589246749878, 1.1144001483917236, 0.20078812539577484, 0.18829946219921112, 0.08987729251384735, 1.2211512327194214, 0.1809951663017273, 0.022509461268782616, 0.1864163726568222, 1.0006866455078125, 0.08180978149175644, 0.0, 0.33799535036087036, 0.07037652283906937, 0.703765332698822, 0.10911326855421066, 0.0412348173558712, 0.03533530235290527, 0.8599905371665955, -0.6979571580886841, 0.41959384083747864, 1.4085034132003784, -1.13543701171875, -0.19344991445541382, -0.1117740049958229, 1.246450424194336, -0.24025192856788635, 0.22262978553771973, -0.0669582411646843, 0.5869333744049072, 1.2392997741699219, 0.08204784244298935, 0.10227160155773163, 0.46505865454673767, 1.4972479343414307, 0.17104126513004303, 1.478066325187683, 1.0585331916809082, 1.4359068870544434, 0.1642293632030487, 1.5306583642959595, 0.8534976840019226, 0.12860529124736786, 1.5057604312896729, 0.12366162985563278, 1.4728436470031738, 1.1805164813995361, 0.562499463558197, -1.1067819595336914, 0.4202010929584503, -0.024929160252213478, -0.0006014307145960629, -0.04110439121723175, -0.6981304287910461], "std": [0.05297589674592018, 0.07333505153656006, 0.0456417053937912, 0.10618800669908524, 0.16372551023960114, 0.04836735874414444, 0.02508094161748886, 0.16923056542873383, 0.025560086593031883, 0.19164179265499115, 0.04906458407640457, 0.11926230788230896, 0.1674921214580536, 0.03685205429792404, 0.0647876039147377, 0.012896369211375713, 0.20731225609779358, 0.02919578365981579, 0.009805676527321339, 0.056133292615413666, 0.15272773802280426, 0.020765217021107674, 0.0, 0.0489179752767086, 0.010373521596193314, 0.10373526066541672, 0.029844148084521294, 0.011900089681148529, 0.010209262371063232, 0.25466176867485046, 0.15648509562015533, 0.18437591195106506, 0.16853560507297516, 0.47371765971183777, 0.20193712413311005, 0.18218687176704407, 0.16990794241428375, 0.061693400144577026, 0.1945706009864807, 0.20909848809242249, 0.0865771695971489, 0.2197607457637787, 0.027952853590250015, 0.015276067890226841, 0.07294167578220367, 0.22465796768665314, 0.026642905548214912, 0.5855802297592163, 0.19799204170703888, 0.3133913278579712, 0.02995826117694378, 0.5006102323532104, 0.15203331410884857, 0.03180059418082237, 0.21911408007144928, 0.025196721777319908, 0.6118476986885071, 0.4880467355251312, 2.2526446628035046e-05, 2.149048123101238e-05, 0.014740154147148132, 0.00376375881023705, 0.0037830977234989405, 0.0407307893037796, 0.07115998864173889], "count": [1505]}, "observation.state.tcp_pose": {"min": [0.31658363342285156, 0.14385570585727692, 1.0315214395523071, -1.2086217403411865, 1.0705465078353882, -1.5337631702423096, 0.25950586795806885, -0.27649322152137756, 1.0053248405456543, -0.49990639090538025, 1.0869660377502441, 0.13505668938159943], "max": [0.4093594253063202, 0.25246503949165344, 1.152160406112671, -0.4222121238708496, 1.3130453824996948, -1.2290334701538086, 0.41971126198768616, -0.061819110065698624, 1.2941538095474243, 1.2080414295196533, 2.097604751586914, 1.8022054433822632], "mean": [0.3738814890384674, 0.16874489188194275, 1.0868233442306519, -0.5917905569076538, 1.2285680770874023, -1.340553641319275, 0.3556084930896759, -0.19665411114692688, 1.1356014013290405, 0.39085865020751953, 1.5597478151321411, 0.8685675263404846], "std": [0.01816512830555439, 0.020442280918359756, 0.020053526386618614, 0.16832008957862854, 0.036802027374506, 0.07060807198286057, 0.05053709074854851, 0.06376805901527405, 0.08389025926589966, 0.4993689954280853, 0.2657640278339386, 0.43814364075660706], "count": [1505]}, "action.tcp_pose": {"min": [0.31675857305526733, 0.14434093236923218, 1.0314503908157349, -1.208855390548706, 1.0680317878723145, -1.5355181694030762, 0.2595336139202118, -0.2785997688770294, 1.005373239517212, -0.5007267594337463, 1.0840016603469849, 0.13483619689941406], "max": [0.40936481952667236, 0.25290754437446594, 1.1521614789962769, -0.42292162775993347, 1.3134121894836426, -1.2289544343948364, 0.41962581872940063, -0.061791129410266876, 1.2954025268554688, 1.208081841468811, 2.0977940559387207, 1.8072389364242554], "mean": [0.3738899230957031, 0.1687772572040558, 1.0868176221847534, -0.5918789505958557, 1.2284983396530151, -1.3405410051345825, 0.35563716292381287, -0.19683176279067993, 1.135907769203186, 0.39259445667266846, 1.5593678951263428, 0.8693158030509949], "std": [0.018278196454048157, 0.020535996183753014, 0.020244624465703964, 0.16865935921669006, 0.037035055458545685, 0.07074712216854095, 0.05060945451259613, 0.06402233242988586, 0.08394582569599152, 0.4997803866863251, 0.265230655670166, 0.43823298811912537], "count": [1505]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.89501661129568], "std": [7.076394366175311], "count": [1505]}, "observation.tactile": {"min": [-7.347385406494141, -0.013946533203125, 0.0, -0.10501861572265625, -0.01945972442626953, -0.1576220989227295, -0.055309295654296875, -0.001495361328125, -0.00732421875, -0.13164043426513672, -0.017146587371826172, -0.0008192062377929688, -0.04767036437988281, -0.014556884765625, -0.00286865234375, -0.16756343841552734, -0.014635086059570312, -0.002797365188598633, -0.023319244384765625, -0.0048828125, -0.00555419921875, -0.0001544952392578125, -0.0010385513305664062, -0.0003859996795654297, -0.023305892944335938, -0.012420654296875, -0.00408935546875, -0.0023012161254882812, -0.0013089179992675781, -0.0005095005035400391, -2.4679222106933594, -0.0181884765625, -0.00848388671875, -0.3128232955932617, -0.03378582000732422, -0.062222957611083984, -3.6149139404296875, -0.005615234375, -0.0015869140625, -0.21124935150146484, -0.014583110809326172, -0.07865619659423828, -0.03411293029785156, -0.00714111328125, -0.0062255859375, -0.0004892349243164062, -0.0012569427490234375, -0.0005533695220947266, -0.009157180786132812, -0.013153076171875, -0.01263427734375, -0.0019006729125976562, -0.00308990478515625, -0.0008434057235717773, -0.017927169799804688, -0.00518798828125, -0.00445556640625, -0.0003032684326171875, -0.0008716583251953125, -0.00042939186096191406], "max": [0.018169403076171875, 6.552734375, 4.52325439453125, 0.0007276535034179688, 0.0013513565063476562, 0.0030052661895751953, 3.947101593017578, 4.301239013671875, 9.052978515625, 0.001392364501953125, 0.0018200874328613281, 0.06946277618408203, 3.797758102416992, 5.40496826171875, 11.61163330078125, 0.001140594482421875, 0.0073757171630859375, 0.06540942192077637, 0.00931549072265625, 0.0084686279296875, 0.00360107421875, 0.0009918212890625, 5.435943603515625e-05, 7.62939453125e-06, 0.03211402893066406, 0.0086517333984375, 0.13330078125, 0.0012226104736328125, 0.00012874603271484375, 3.337860107421875e-06, 6.711765289306641, 16.453582763671875, 12.7901611328125, 0.001453399658203125, 0.04064655303955078, 0.13843011856079102, 0.8904571533203125, 5.684112548828125, 9.19989013671875, 0.0009059906005859375, 0.004562854766845703, 0.02185344696044922, 0.028646469116210938, 0.020172119140625, 0.035308837890625, 0.001125335693359375, 0.0007028579711914062, 0.00034046173095703125, 0.6598167419433594, 0.263031005859375, 0.09442138671875, 0.0016031265258789062, 0.0021944046020507812, 0.006958603858947754, 0.013063430786132812, 0.005126953125, 0.0078125, 0.0008754730224609375, 0.00015783309936523438, 3.6716461181640625e-05], "mean": [-2.933041572570801, 4.344431400299072, 2.8872430324554443, -0.06415526568889618, -0.011906635947525501, -0.06127866357564926, 2.019407033920288, 1.6046662330627441, 3.784243583679199, -0.04943282902240753, -0.004365014377981424, 0.030784599483013153, 0.7318456172943115, 0.7612522840499878, 2.7185840606689453, -0.044118739664554596, -0.00018111067765858024, 0.01142742857336998, -0.007854370400309563, 0.002203551586717367, -0.001082532457076013, 0.00023438589414581656, -0.00021854603255633265, -0.00014905398711562157, 0.003127888310700655, 0.00148738210555166, -0.00022516092576552182, 0.0004231449856888503, -0.0004476483736652881, -0.0001813060080166906, 1.047544240951538, 2.426964044570923, 2.3222756385803223, -0.05512478947639465, -0.0011316342279314995, 0.019803840667009354, -0.8741007447242737, 1.016018033027649, 1.4768987894058228, -0.03066137619316578, -0.001313556102104485, -0.018070321530103683, 0.002177876653149724, -0.0003755486977752298, -0.0013745076721534133, 0.0002878651721403003, -0.00039046467281877995, -0.00027063454035669565, 0.016726188361644745, -0.002719258191064, 0.002743479562923312, 0.000640923622995615, -0.0006185962702147663, -0.00035603687865659595, 0.0010980612132698298, 0.00026474252808839083, 0.001900484669022262, 0.00015440653078258038, -0.0001459061459172517, -0.00011098345567006618], "std": [1.4625146389007568, 1.970153570175171, 1.2958476543426514, 0.02896871790289879, 0.00524818804115057, 0.03093217872083187, 0.9127182364463806, 0.825680136680603, 1.7637114524841309, 0.023633688688278198, 0.0026882286183536053, 0.013885396532714367, 0.6297948956489563, 0.5832271575927734, 1.609350323677063, 0.02537117712199688, 0.0034725707955658436, 0.010990317910909653, 0.004971628077328205, 0.0018002715660259128, 0.0014658522559329867, 0.00011327841639285907, 8.127397450152785e-05, 5.6753378885332495e-05, 0.002099748235195875, 0.0014486403670161963, 0.0036472973879426718, 0.00015881982108112425, 0.00012643527588807046, 4.5293712901184335e-05, 1.6755704879760742, 4.041443824768066, 3.3605167865753174, 0.08065696805715561, 0.007321291137486696, 0.03261393681168556, 1.1406725645065308, 1.4250036478042603, 2.253587484359741, 0.05033613368868828, 0.0027089330833405256, 0.02443769760429859, 0.009675240144133568, 0.0017958249663934112, 0.0018457142869010568, 0.00033982371678575873, 0.0003153085126541555, 0.0001020583586068824, 0.0205774437636137, 0.007485386915504932, 0.0035579970572143793, 0.00024612524430267513, 0.000253070960752666, 0.0002701325574889779, 0.004154647700488567, 0.0010273604420945048, 0.001898505724966526, 0.0002002700202865526, 0.00019281456479802728, 7.67827732488513e-05], "count": [1505]}, "timestamp": {"min": [0.0], "max": [50.13333333333333], "mean": [25.066666666666663], "std": [14.481866055327416], "count": [1505]}, "frame_index": {"min": [0], "max": [1504], "mean": [752.0], "std": [434.4559816598225], "count": [1505]}, "episode_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [1505]}, "index": {"min": [23771], "max": [25275], "mean": [24523.0], "std": [434.4559816598225], "count": [1505]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1505]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.316011518239975]], [[0.31531623005867004]], [[0.3153209984302521]]], "std": [[[0.19054734706878662]], [[0.19057849049568176]], [[0.1906144917011261]]], "count": [1505]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.303799033164978]], [[0.305497407913208]], [[0.3033130168914795]]], "std": [[[0.17108577489852905]], [[0.17315548658370972]], [[0.17211350798606873]]], "count": [1505]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30946576595306396]], [[0.30836331844329834]], [[0.3062434196472168]]], "std": [[[0.17456881701946259]], [[0.17517587542533875]], [[0.17337019741535187]]], "count": [1505]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30915388464927673]], [[0.30846160650253296]], [[0.30860650539398193]]], "std": [[[0.18789342045783997]], [[0.18794672191143036]], [[0.18806645274162292]]], "count": [1505]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6549019813537598]], [[0.6549019813537598]], [[0.6549019813537598]]], "mean": [[[0.007977665401995182]], [[0.007977665401995182]], [[0.007977665401995182]]], "std": [[[0.058155182749032974]], [[0.058155182749032974]], [[0.058155182749032974]]], "count": [1505]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.9607843160629272]], [[0.9607843160629272]], [[0.9607843160629272]]], "mean": [[[0.4736466407775879]], [[0.4736466407775879]], [[0.4736466407775879]]], "std": [[[0.15287932753562927]], [[0.15287932753562927]], [[0.15287932753562927]]], "count": [1505]}}}
+{"episode_index": 16, "stats": {"observation.state": {"min": [0.782964289188385, -0.7955014109611511, 2.384860817983281e-05, 1.1314677000045776, -0.8310533761978149, -0.7699912190437317, 0.3398693799972534, 0.007322478108108044, -0.2205984890460968, -0.201787069439888, -0.31705331802368164, 0.002573771867901087, 0.0031481171026825905, -0.03970484808087349, 0.003396357875317335, 0.000837182451505214, 0.003918158356100321, -0.0006989000830799341, 0.003471525153145194, 0.0008495982619933784, 0.0032712644897401333, 7.065054523991421e-05, 0.003035767236724496, 0.0008770904969424009, 0.006165206898003817, 0.003254092764109373, 6.157378084026277e-05, 0.006510128732770681, 0.0008469377062283456, 0.269878625869751, -1.0369844436645508, 0.0029838322661817074, 1.1615303754806519, -1.6633284091949463, -0.767015278339386, -0.40078529715538025, 0.025783875957131386, -0.3185303509235382, -0.11466565728187561, -0.31712111830711365, 0.006904048379510641, 0.012166602537035942, 8.880335371941328e-05, 0.0034782616421580315, 0.002123552141711116, 0.03203582391142845, 0.0018170427065342665, 0.003393166698515415, 0.004492760635912418, 0.011357801966369152, -1.8398341126157902e-05, 0.005499270278960466, 0.004454182926565409, 0.004873296245932579, 0.029296647757291794, 1.0301967449777294e-05, 0.0067739239893853664, 0.0008633443503640592, 0.5616286993026733, -1.107150673866272, 0.41369545459747314, -0.026077672839164734, -0.014860439114272594, -0.10670753568410873, -0.872547447681427], "max": [1.0500097274780273, -0.5173662900924683, 0.33607423305511475, 1.5699827671051025, -5.15321662533097e-05, -0.3779762387275696, 0.5200149416923523, 1.2422974109649658, 0.00042675918666645885, 0.5230951905250549, -0.002446718979626894, 0.9770539999008179, 1.2379930019378662, 0.20952777564525604, 0.2134167104959488, 0.09051325172185898, 1.281481146812439, 0.1892772912979126, 0.037744633853435516, 0.21255210041999817, 1.0342059135437012, 0.14284230768680573, 0.01531676109880209, 0.33678188920021057, 0.06205451861023903, 0.7287989854812622, 0.22833772003650665, 0.06670958548784256, 0.05933574587106705, 1.226749062538147, -0.3763953447341919, 0.8017791509628296, 1.816014289855957, -0.0035600338596850634, 0.1334824562072754, 0.5166792273521423, 1.3289283514022827, -0.0023807801771909, 0.610251784324646, 0.3140102028846741, 0.6453508734703064, 1.4645437002182007, 0.1303607076406479, 0.1120266243815422, 0.507931649684906, 1.4666146039962769, 0.2329724282026291, 1.6534103155136108, 1.2016946077346802, 1.4669179916381836, 0.2581721544265747, 1.6537166833877563, 0.9630528688430786, 0.13989561796188354, 1.468400001525879, 0.2089586704969406, 1.6534485816955566, 1.3081090450286865, 0.563066840171814, -1.1063836812973022, 0.5421663522720337, -0.0005752427969127893, 0.0, 0.058578889816999435, -0.5797488689422607], "mean": [0.8984023928642273, -0.5817817449569702, 0.23336315155029297, 1.2159197330474854, -0.7092350721359253, -0.4668222665786743, 0.4377082586288452, 1.1978710889816284, -0.1748666763305664, 0.42593419551849365, -0.3088836073875427, 0.7720643877983093, 1.1370759010314941, 0.19022129476070404, 0.16566617786884308, 0.08583959937095642, 1.2138757705688477, 0.17282365262508392, 0.004766236990690231, 0.1891474425792694, 0.9797365665435791, 0.08199802041053772, 0.003207994159311056, 0.32370302081108093, 0.059771377593278885, 0.6976661086082458, 0.10159177333116531, 0.0468970350921154, 0.04026675596833229, 0.8629430532455444, -0.7103267312049866, 0.38939642906188965, 1.4079067707061768, -1.1542155742645264, -0.21888425946235657, -0.11291531473398209, 1.2467048168182373, -0.23641349375247955, 0.250139981508255, -0.12776611745357513, 0.5793105363845825, 1.2233561277389526, 0.08158998936414719, 0.09948139637708664, 0.4560766816139221, 1.4022637605667114, 0.17357967793941498, 1.3976879119873047, 1.050806999206543, 1.3228973150253296, 0.16602812707424164, 1.4532065391540527, 0.858458399772644, 0.11033675074577332, 1.4031925201416016, 0.12941402196884155, 1.3822994232177734, 1.0955277681350708, 0.5624961256980896, -1.1065733432769775, 0.41971859335899353, -0.022443048655986786, -0.006430215202271938, -0.020658064633607864, -0.7201138734817505], "std": [0.04446139186620712, 0.07289554178714752, 0.03504971042275429, 0.100215844810009, 0.15969686210155487, 0.043849121779203415, 0.0272565595805645, 0.14340972900390625, 0.02262641303241253, 0.17782336473464966, 0.036439232528209686, 0.09824173897504807, 0.15373122692108154, 0.03865143284201622, 0.0561707578599453, 0.010478582233190536, 0.1919722706079483, 0.02384643815457821, 0.004938867408782244, 0.05064842477440834, 0.13499973714351654, 0.017164604738354683, 0.000979136093519628, 0.041608162224292755, 0.007271366659551859, 0.0896705687046051, 0.02670721709728241, 0.013160468079149723, 0.012201284058392048, 0.22065262496471405, 0.15324588119983673, 0.18131738901138306, 0.16979311406612396, 0.4092455506324768, 0.20650283992290497, 0.1769329011440277, 0.1444006711244583, 0.0568954274058342, 0.2101351022720337, 0.14197088778018951, 0.07120050489902496, 0.19909699261188507, 0.028247762471437454, 0.013077803887426853, 0.06399478763341904, 0.17055992782115936, 0.0225592702627182, 0.557103157043457, 0.21478773653507233, 0.2863316237926483, 0.027707669883966446, 0.451409250497818, 0.14951182901859283, 0.030527664348483086, 0.1768321543931961, 0.022103797644376755, 0.5910053849220276, 0.4654081463813782, 8.282293129013851e-05, 5.7351699069840834e-05, 0.01354517787694931, 0.005071931052953005, 0.0032620818819850683, 0.034717489033937454, 0.0928095132112503], "count": [1568]}, "observation.state.joint_torque": {"min": [-40.67250061035156, -9.35099983215332, -20.485000610351562, -12.732999801635742, -0.3856000006198883, -1.8447999954223633, 0.951200008392334, -1.032830834388733, -0.6151138544082642, -0.7630113959312439, -0.8425435423851013, -0.39514094591140747, -0.33677196502685547, -0.5871921181678772, -0.5910511612892151, -0.04352368041872978, -0.49412408471107483, -0.32813674211502075, -0.06973075866699219, -0.020691584795713425, -0.5296242833137512, -1.4238449335098267, -0.06641025096178055, -0.02996712550520897, -0.10115424543619156, -0.41256964206695557, -0.4384751617908478, -0.11123716086149216, -0.03068062849342823, -6.77400016784668, -20.23200035095215, -10.383000373840332, -18.292999267578125, -1.9256000518798828, -6.353600025177002, -2.8592000007629395, -1.8427942991256714, -1.053207278251648, -0.6847219467163086, -0.7505844831466675, -0.2573396861553192, -0.644760012626648, -1.1187353134155273, -0.0979551151394844, -0.1591111570596695, -0.5468946099281311, -0.29263657331466675, -0.3718973398208618, -0.032821137458086014, -0.6860169172286987, -0.5603271126747131, -0.49973708391189575, -0.01855107769370079, -0.05409553274512291, -0.6332463622093201, -0.9690588712692261, -0.2639807164669037, -0.07135029137134552, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-18.152999877929688, 17.43600082397461, -5.919000148773193, 0.6309999823570251, 1.770400047302246, 1.6784000396728516, 4.158400058746338, 0.6138402819633484, 1.032830834388733, 1.287426471710205, 0.9369879364967346, 0.14776279032230377, 0.685057520866394, 0.5392189025878906, 0.5844101905822754, 0.12414952367544174, 0.6380437612533569, 0.7282333374023438, 0.06973075866699219, 0.05351272225379944, 0.7474226355552673, 0.2130010575056076, 0.05478844791650772, 0.02425910159945488, 0.05409553274512291, 0.3550017476081848, 0.3837856948375702, 0.10293588042259216, 0.014983562752604485, 42.076499938964844, 23.54400062561035, 24.81599998474121, 3.2690000534057617, 0.031199999153614044, 3.2360000610351562, 1.3983999490737915, 1.5842682123184204, 3.4665420055389404, 1.3644732236862183, 1.5123531818389893, 0.330390989780426, 2.141524314880371, 0.44615086913108826, 1.0559228658676147, 0.21405088901519775, 0.41352906823158264, 0.4020155072212219, 0.42004477977752686, 0.04281017929315567, 0.7416658401489258, 1.2847226858139038, 0.449929416179657, 0.028540121391415596, 0.49213743209838867, 0.6457194685935974, 0.22067676484584808, 0.43830758333206177, 0.0891878679394722, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-31.189119338989258, 1.2299195528030396, -14.432677268981934, -6.137481212615967, 0.19693580269813538, 0.8000655174255371, 1.7995092868804932, -0.0430416613817215, 0.025407234206795692, 0.13527487218379974, 0.044647280126810074, 0.0113528436049819, 0.06764336675405502, 0.05761800333857536, 0.06537683308124542, 0.025098221376538277, 0.018968963995575905, 0.10527677088975906, -0.00010800129530252889, 0.0077375019900500774, 0.021199382841587067, -0.09148889034986496, -0.000538947235327214, 0.00021796383953187615, -0.0001377185108140111, 0.007574737537652254, 0.024202607572078705, -0.0034835718106478453, -0.0009742424008436501, 28.118194580078125, 4.254317760467529, 14.383049964904785, -6.159915924072266, -0.6081641316413879, 1.073456048965454, -1.102610468864441, 0.024365076795220375, 0.42206454277038574, 0.11041079461574554, 0.13452595472335815, 0.03354288265109062, 0.3023433983325958, -0.11539323627948761, 0.16513130068778992, 0.03793313726782799, 0.013291125185787678, 0.004324321169406176, 0.0012907232157886028, 0.002814427250996232, -0.023229047656059265, 0.10240328311920166, 0.0020509688183665276, 0.0009760608081705868, 0.22553445398807526, 0.010167391039431095, -0.1118633896112442, 0.001988499891012907, 0.00031215811031870544, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.008528470993042, 1.6644835472106934, 0.8192190527915955, 0.941283643245697, 0.27160367369651794, 0.38173699378967285, 0.33538034558296204, 0.15875007212162018, 0.14384859800338745, 0.27234238386154175, 0.15510308742523193, 0.0345122292637825, 0.12618999183177948, 0.13746342062950134, 0.08738117665052414, 0.01747525855898857, 0.14403171837329865, 0.14639057219028473, 0.008649618364870548, 0.009434080682694912, 0.1481272578239441, 0.1892722249031067, 0.0044105625711381435, 0.005406385287642479, 0.006600601598620415, 0.07484610378742218, 0.08439786732196808, 0.016311870887875557, 0.006523313000798225, 4.87398624420166, 2.654196262359619, 2.4565935134887695, 2.624911308288574, 0.24518007040023804, 0.8718000054359436, 0.7091238498687744, 0.38574373722076416, 0.7599959969520569, 0.32362082600593567, 0.3145814836025238, 0.07049832493066788, 0.5758340358734131, 0.25624915957450867, 0.2941970229148865, 0.06564829498529434, 0.06566307693719864, 0.048451248556375504, 0.02308918908238411, 0.005525015760213137, 0.13835157454013824, 0.22068104147911072, 0.024537228047847748, 0.007514250930398703, 0.17200815677642822, 0.10400810837745667, 0.17052380740642548, 0.02394171617925167, 0.005370185244828463, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1568]}, "observation.state.tcp": {"min": [0.33422839641571045, 0.14627325534820557, 1.031530737876892, -1.2075215578079224, 1.1088829040527344, -1.5125584602355957, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.24530519545078278, -0.2821684181690216, 0.9914335012435913, -0.2732775807380676, 0.987384021282196, 0.19649958610534668, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4003632366657257, 0.23307445645332336, 1.1376044750213623, -0.38133692741394043, 1.450234293937683, -1.2313770055770874, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.42321962118148804, -0.08653293550014496, 1.3020933866500854, 1.2065240144729614, 2.1499698162078857, 1.6615118980407715, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.377081036567688, 0.16811147332191467, 1.0876871347427368, -0.5511623620986938, 1.225425362586975, -1.324967384338379, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.35209691524505615, -0.20602969825267792, 1.1277422904968262, 0.38486048579216003, 1.5742942094802856, 0.8392552137374878, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.017942016944289207, 0.017161937430500984, 0.01958896778523922, 0.17629288136959076, 0.0601976104080677, 0.052504509687423706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05038415268063545, 0.05666692554950714, 0.08988033980131149, 0.43913254141807556, 0.314571738243103, 0.4213174283504486, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1568]}, "action": {"min": [0.7830132842063904, -0.7956879734992981, -5.816476648866264e-17, 1.1313568353652954, -0.8310468196868896, -0.7699999809265137, 0.3397493362426758, 0.0, -0.22021156549453735, -0.2078821063041687, -0.3490658402442932, 0.0, 0.0, -0.043803758919239044, 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, 0.26988887786865234, -1.0379935503005981, 0.00543295918032527, 1.1614617109298706, -1.6633399724960327, -0.7641165256500244, -0.40070298314094543, 0.0, -0.32816535234451294, -0.11827205866575241, -0.33736926317214966, 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, 0.5624915957450867, -1.1069231033325195, 0.41313087940216064, -0.026532432064414024, -0.015614884905517101, -0.10699893534183502, -0.8726646304130554], "max": [1.0499999523162842, -0.5173429250717163, 0.33613866567611694, 1.5700000524520874, 5.730075979523875e-17, -0.37729600071907043, 0.5199999809265137, 1.252111792564392, 0.0, 0.5302406549453735, 0.0, 0.9823709726333618, 1.2489129304885864, 0.21141237020492554, 0.2252597212791443, 0.09318923950195312, 1.2868176698684692, 0.19137471914291382, 0.04723983258008957, 0.21746085584163666, 1.0404258966445923, 0.14276665449142456, 0.02198885753750801, 0.33842507004737854, 0.07380364090204239, 0.7380363941192627, 0.2292448878288269, 0.07328589260578156, 0.06247136369347572, 1.2275773286819458, -0.3763871192932129, 0.8018959164619446, 1.8164432048797607, -0.008475947193801403, 0.1338207721710205, 0.5122016072273254, 1.335618019104004, 0.0, 0.6146831512451172, 0.3490658402442932, 0.6484904289245605, 1.541582465171814, 0.12809818983078003, 0.11579512059688568, 0.5108156204223633, 1.5707963705062866, 0.23307985067367554, 1.7453292608261108, 1.2067155838012695, 1.5707963705062866, 0.2601162791252136, 1.7453292608261108, 0.9666953086853027, 0.15302416682243347, 1.5707963705062866, 0.21169990301132202, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106576681137085, 0.5442397594451904, 9.858042564844055e-20, 0.0008087331661954522, 0.0584929995238781, -0.5794437527656555], "mean": [0.8984075784683228, -0.5818113088607788, 0.23334236443042755, 1.2159701585769653, -0.7092071175575256, -0.4668508768081665, 0.43773794174194336, 1.1977423429489136, -0.17221005260944366, 0.43144339323043823, -0.3412814140319824, 0.7775645852088928, 1.1387239694595337, 0.19206243753433228, 0.1695047914981842, 0.08969329297542572, 1.2153220176696777, 0.17697978019714355, 0.0013707901816815138, 0.19125182926654816, 0.9844873547554016, 0.08229880779981613, 0.00013781094457954168, 0.32653820514678955, 0.06992413848638535, 0.6992408037185669, 0.10454025864601135, 0.05019071325659752, 0.04296748340129852, 0.86383455991745, -0.7105481028556824, 0.3891702890396118, 1.4081710577011108, -1.1535297632217407, -0.21930864453315735, -0.11293309181928635, 1.2477772235870361, -0.23527789115905762, 0.25095686316490173, -0.12733250856399536, 0.5809122323989868, 1.2332807779312134, 0.0807177945971489, 0.10273122787475586, 0.4610078036785126, 1.4870696067810059, 0.17470456659793854, 1.473366618156433, 1.0520501136779785, 1.3980467319488525, 0.16509081423282623, 1.529776692390442, 0.8598495125770569, 0.12583079934120178, 1.4920014142990112, 0.12889456748962402, 1.4525854587554932, 1.1684409379959106, 0.5624995231628418, -1.1066852807998657, 0.41977134346961975, -0.022487664595246315, -0.006465194281190634, -0.020684003829956055, -0.7201542854309082], "std": [0.04439985379576683, 0.07295958697795868, 0.03525333106517792, 0.10038024932146072, 0.15987583994865417, 0.04404670000076294, 0.027261190116405487, 0.1609596461057663, 0.025182059034705162, 0.17966626584529877, 0.04729490354657173, 0.11626631021499634, 0.16914145648479462, 0.04033803567290306, 0.058292727917432785, 0.012409948743879795, 0.20185412466526031, 0.02757529728114605, 0.00662898039445281, 0.05165334418416023, 0.14767347276210785, 0.018071282655000687, 0.0016004667850211263, 0.04645732045173645, 0.010053446516394615, 0.10053444653749466, 0.02821863628923893, 0.014798907563090324, 0.012764680199325085, 0.22070704400539398, 0.1536119431257248, 0.18123549222946167, 0.1700286567211151, 0.4094802439212799, 0.20659217238426208, 0.17696130275726318, 0.1640194058418274, 0.06252453476190567, 0.21055522561073303, 0.14664779603481293, 0.08312209695577621, 0.22161608934402466, 0.026986069977283478, 0.014851495623588562, 0.07143852114677429, 0.21965298056602478, 0.02572900801897049, 0.5904752016067505, 0.22092898190021515, 0.33175280690193176, 0.030289143323898315, 0.484877347946167, 0.15672190487384796, 0.03280564770102501, 0.2256355732679367, 0.024358239024877548, 0.6221186518669128, 0.4978084862232208, 2.2052772692404687e-05, 2.872302502510138e-05, 0.014286540448665619, 0.0051233903504908085, 0.0033091746736317873, 0.034785062074661255, 0.09291864931583405], "count": [1568]}, "observation.state.tcp_pose": {"min": [0.33422839641571045, 0.14627325534820557, 1.031530737876892, -1.2075215578079224, 1.1088829040527344, -1.5125584602355957, 0.24530519545078278, -0.2821684181690216, 0.9914335012435913, -0.2732775807380676, 0.987384021282196, 0.19649958610534668], "max": [0.4003632366657257, 0.23307445645332336, 1.1376044750213623, -0.38133692741394043, 1.450234293937683, -1.2313770055770874, 0.42321962118148804, -0.08653293550014496, 1.3020933866500854, 1.2065240144729614, 2.1499698162078857, 1.6615118980407715], "mean": [0.377081036567688, 0.16811147332191467, 1.0876871347427368, -0.5511623620986938, 1.225425362586975, -1.324967384338379, 0.35209691524505615, -0.20602969825267792, 1.1277422904968262, 0.38486048579216003, 1.5742942094802856, 0.8392552137374878], "std": [0.017942016944289207, 0.017161937430500984, 0.01958896778523922, 0.17629288136959076, 0.0601976104080677, 0.052504509687423706, 0.05038415268063545, 0.05666692554950714, 0.08988033980131149, 0.43913254141807556, 0.314571738243103, 0.4213174283504486], "count": [1568]}, "action.tcp_pose": {"min": [0.33433836698532104, 0.14641375839710236, 1.0311572551727295, -1.208855390548706, 1.1074705123901367, -1.513569951057434, 0.24523907899856567, -0.28195899724960327, 0.9913401007652283, -0.2732365131378174, 0.9844223856925964, 0.19614149630069733], "max": [0.40030738711357117, 0.2330310195684433, 1.13710618019104, -0.3813711404800415, 1.4514310359954834, -1.2289544343948364, 0.4231952130794525, -0.08672889322042465, 1.3020927906036377, 1.2041558027267456, 2.1504414081573486, 1.665546178817749], "mean": [0.37704023718833923, 0.16809840500354767, 1.0876812934875488, -0.5511312484741211, 1.2253711223602295, -1.3250113725662231, 0.35204604268074036, -0.20605888962745667, 1.128162145614624, 0.3850950598716736, 1.5734635591506958, 0.8394516706466675], "std": [0.018010787665843964, 0.017163673415780067, 0.01955101452767849, 0.17646867036819458, 0.05994102358818054, 0.0525544211268425, 0.050473980605602264, 0.05690843239426613, 0.09013619273900986, 0.4393225312232971, 0.31428709626197815, 0.4216766655445099], "count": [1568]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.06313775510204], "std": [6.867307819306278], "count": [1568]}, "observation.tactile": {"min": [-6.42523193359375, -0.0057373046875, -0.00189208984375, -0.08284854888916016, -0.018127918243408203, -0.14358735084533691, -0.4784679412841797, -0.003814697265625, -0.00726318359375, -0.19212818145751953, -0.016885757446289062, -0.007960319519042969, -0.8111572265625, -0.02813720703125, -0.01318359375, -0.09868526458740234, -0.01579427719116211, -0.015792131423950195, -0.01863861083984375, -0.009033203125, -0.0069580078125, -0.0001220703125, -0.0003962516784667969, -0.0003638267517089844, -0.004482269287109375, -0.013397216796875, -0.00189208984375, 0.0, -0.0011057853698730469, -0.0003306865692138672, -0.3667869567871094, -0.009674072265625, -0.01397705078125, -0.32892704010009766, -0.033733367919921875, -0.016800642013549805, -4.922786712646484, -0.012481689453125, -0.000244140625, -0.2112264633178711, -0.022572040557861328, -0.10284066200256348, -0.022020339965820312, -0.00689697265625, -0.00677490234375, -4.1961669921875e-05, -0.0014095306396484375, -0.0006158351898193359, -0.0142974853515625, -0.01153564453125, -0.01702880859375, -0.0004367828369140625, -0.0014390945434570312, -0.0003535747528076172, -0.024816513061523438, -0.00689697265625, -0.010009765625, -6.29425048828125e-05, -0.0011029243469238281, -0.00047087669372558594], "max": [0.0293121337890625, 5.177764892578125, 3.97222900390625, 0.001369476318359375, 0.002315044403076172, 0.006349325180053711, 4.99785041809082, 6.64544677734375, 13.94476318359375, 0.001529693603515625, 0.0063991546630859375, 0.08028125762939453, 3.7235107421875, 2.07470703125, 5.84564208984375, 0.0018777847290039062, 0.004835605621337891, 0.0683295726776123, 0.0056304931640625, 0.0033111572265625, 0.005615234375, 0.0006504058837890625, 0.00021076202392578125, 1.9550323486328125e-05, 0.026134490966796875, 0.0087738037109375, 0.0059814453125, 0.00146484375, 7.43865966796875e-05, 1.7642974853515625e-05, 7.871982574462891, 18.281951904296875, 13.48577880859375, 0.0019826889038085938, 0.028964996337890625, 0.1817619800567627, 1.0410804748535156, 14.72686767578125, 9.12908935546875, 0.008522987365722656, 0.03831052780151367, 0.023319005966186523, 0.027158737182617188, 0.0037841796875, 0.01336669921875, 0.0015850067138671875, 0.0, 0.0, 0.3003692626953125, 0.14178466796875, 0.01904296875, 0.0015125274658203125, 0.0016698837280273438, 0.006289243698120117, 0.013803482055664062, 0.005126953125, 0.00506591796875, 0.0011749267578125, 6.437301635742188e-05, 0.0], "mean": [-2.0938913822174072, 2.5798845291137695, 1.9518967866897583, -0.04295537993311882, -0.007944256998598576, -0.04394729435443878, 1.496919870376587, 1.2522114515304565, 3.3878211975097656, -0.0523345023393631, -0.005354817025363445, 0.025596564635634422, 0.13240492343902588, 0.23444068431854248, 0.76213538646698, -0.013197580352425575, 0.0003871163644362241, 0.0019111805595457554, -0.004226704128086567, -0.0029911897145211697, -0.0014897949295118451, 0.0002648927620612085, -3.5996947644889588e-06, -0.00012724018597509712, 0.005081033334136009, 0.0037305792793631554, 0.0018939971923828125, 0.000773044244851917, -0.0006515456479974091, -0.00016826452338136733, 1.4209269285202026, 3.0058960914611816, 3.0072150230407715, -0.06727488338947296, -0.0033623240888118744, 0.028987843543291092, -0.8495126962661743, 1.4394129514694214, 1.8858405351638794, -0.03774048015475273, -0.0010382308391854167, -0.01723835989832878, 0.0067628961987793446, -4.725553662865423e-05, -0.0012573320418596268, 0.0008079166291281581, -0.0007351654930971563, -0.0003512196126393974, 0.0039375461637973785, 0.0025014292914420366, -0.005248634144663811, 0.00042384618427604437, -0.00028303873841650784, -5.3325173212215304e-05, -0.0007048991392366588, -0.0013793050311505795, -0.0011365462560206652, 0.00048086349852383137, -0.0003673224418889731, -0.00020114469225518405], "std": [1.0478647947311401, 1.2418768405914307, 0.9173048734664917, 0.020750543102622032, 0.004432931076735258, 0.022925490513443947, 0.8165947198867798, 0.814399003982544, 1.906192421913147, 0.028148502111434937, 0.002941422862932086, 0.013810481876134872, 0.3970840573310852, 0.2691304385662079, 0.5781348943710327, 0.010540070943534374, 0.002351615112274885, 0.007258429192006588, 0.0043800692074000835, 0.0017507919110357761, 0.0015718649374321103, 0.00011405099940020591, 7.129667210392654e-05, 6.333635246846825e-05, 0.003250389127060771, 0.0014559373958036304, 0.0013198847882449627, 0.0001593374618096277, 0.00012823934957850724, 4.928516500513069e-05, 2.130582809448242, 4.637740135192871, 4.236245155334473, 0.09665674716234207, 0.007670765742659569, 0.04418586194515228, 1.3613961935043335, 2.0714333057403564, 2.6016364097595215, 0.055412545800209045, 0.004647706635296345, 0.027681974694132805, 0.007235477678477764, 0.001362498034723103, 0.0018685602117329836, 0.0003564782382454723, 0.00034689976018853486, 0.00012140520993852988, 0.014533431269228458, 0.005772182252258062, 0.0033309520222246647, 0.0002707228122744709, 0.0003202626248821616, 0.0003021502052433789, 0.007593403570353985, 0.0016369905788451433, 0.0020291146356612444, 0.0002541584544815123, 0.00024326509446837008, 7.394176645902917e-05], "count": [1568]}, "timestamp": {"min": [0.0], "max": [52.233333333333334], "mean": [26.116666666666667], "std": [15.088083966421243], "count": [1568]}, "frame_index": {"min": [0], "max": [1567], "mean": [783.5], "std": [452.6425189926373], "count": [1568]}, "episode_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [1568]}, "index": {"min": [25276], "max": [26843], "mean": [26059.5], "std": [452.6425189926373], "count": [1568]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1568]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31859809160232544]], [[0.31791767477989197]], [[0.31789448857307434]]], "std": [[[0.19474956393241882]], [[0.19479039311408997]], [[0.1948300451040268]]], "count": [1568]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.303433895111084]], [[0.30534791946411133]], [[0.30349844694137573]]], "std": [[[0.17133532464504242]], [[0.17347663640975952]], [[0.17255404591560364]]], "count": [1568]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30914342403411865]], [[0.3080546259880066]], [[0.3061389625072479]]], "std": [[[0.17393642663955688]], [[0.1746123731136322]], [[0.1730160415172577]]], "count": [1568]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31302836537361145]], [[0.31238019466400146]], [[0.31254419684410095]]], "std": [[[0.19292384386062622]], [[0.19297988712787628]], [[0.19307830929756165]]], "count": [1568]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7098039388656616]], [[0.7098039388656616]], [[0.7098039388656616]]], "mean": [[[0.006726447027176619]], [[0.006726447027176619]], [[0.006726447027176619]]], "std": [[[0.05367206782102585]], [[0.05367206782102585]], [[0.05367206782102585]]], "count": [1568]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.95686274766922]], [[0.95686274766922]], [[0.95686274766922]]], "mean": [[[0.4740104675292969]], [[0.4740104675292969]], [[0.4740104675292969]]], "std": [[[0.152559295296669]], [[0.152559295296669]], [[0.152559295296669]]], "count": [1568]}}}
+{"episode_index": 17, "stats": {"observation.state": {"min": [0.7530941367149353, -0.8914433717727661, -0.0, 1.1506028175354004, -0.9303843975067139, -0.7700009346008301, 0.24724377691745758, 0.007683831732720137, -0.22012008726596832, -0.26095837354660034, -0.31756511330604553, 0.002462439239025116, 0.0031510607805103064, -0.03231031820178032, 0.003410894889384508, 0.0008243231568485498, 0.0038563392590731382, -0.0007160722743719816, 0.0034917350858449936, 0.000872656237334013, 0.0032788694370537996, -0.06087789312005043, 0.003113416489213705, 0.0008917234372347593, 0.006098845507949591, 0.003205765737220645, -0.05167469382286072, 0.006470418069511652, 0.0008420600206591189, 0.3740871846675873, -1.0895415544509888, 0.0006735134520567954, 1.1011378765106201, -1.672171950340271, -0.7692613005638123, -0.40280044078826904, 0.007535495795309544, -0.32344597578048706, -0.13767406344413757, -0.31604722142219543, 0.0033708291593939066, 0.003145418595522642, 0.00011137264664284885, 0.0034818074200302362, 0.0013182963011786342, 0.005999648943543434, 0.0003441758453845978, 0.0034066401422023773, 0.0019532779697328806, 0.0032695475965738297, -0.00013001654588151723, 0.003511236049234867, 0.001791871851310134, 0.005745630711317062, 0.005218323320150375, 0.00039471115451306105, 0.006771796382963657, 0.0008518153917975724, 0.5615328550338745, -1.1070547103881836, 0.41187384724617004, -0.021571604534983635, -0.025502430275082588, -0.12012986838817596, -0.8729309439659119], "max": [1.0553139448165894, -0.6044884324073792, 0.3965260982513428, 1.5815097093582153, 4.793689640791854e-07, -0.4510568678379059, 0.5199998617172241, 1.3039512634277344, -6.883787864353508e-05, 0.48570647835731506, -0.0050097317434847355, 1.0395194292068481, 1.2731648683547974, 0.1900019496679306, 0.2158348262310028, 0.09019354730844498, 1.3277524709701538, 0.15841995179653168, 0.04168808460235596, 0.2144632637500763, 1.0665532350540161, 0.13259749114513397, 0.003176883328706026, 0.3369344472885132, 0.06180299073457718, 0.69842129945755, 0.2522595226764679, 0.16751216351985931, 0.1470208466053009, 1.1047782897949219, -0.22159443795681, 0.9773265719413757, 1.7752094268798828, -0.000997087568975985, 0.052509959787130356, 0.5191885232925415, 1.3331183195114136, 0.0023294684942811728, 0.5422012805938721, 0.314669132232666, 0.6421864032745361, 1.4628137350082397, 0.1586211621761322, 0.1120014488697052, 0.5037142038345337, 1.4668606519699097, 0.21695342659950256, 1.6533653736114502, 1.227431297302246, 1.4679557085037231, 0.2428409606218338, 1.6537131071090698, 0.9519326686859131, 0.13977038860321045, 1.466698169708252, 0.20381957292556763, 1.6534007787704468, 1.308059811592102, 0.5629709362983704, -1.1063836812973022, 0.5441796779632568, 0.0, 0.0, 0.0613592304289341, -0.548877477645874], "mean": [0.9524041414260864, -0.6732603907585144, 0.1683826446533203, 1.3610163927078247, -0.7776714563369751, -0.6038009524345398, 0.32116323709487915, 1.2563508749008179, -0.15944170951843262, 0.3472993075847626, -0.3082885444164276, 0.8448458313941956, 1.2017321586608887, 0.16379565000534058, 0.04807472974061966, 0.0848885253071785, 1.2430356740951538, 0.1406862884759903, 0.008751693181693554, 0.1877313256263733, 1.0053151845932007, 0.05465204268693924, 0.00314918952062726, 0.3221191465854645, 0.05339451879262924, 0.6641086935997009, 0.04528661444783211, 0.12686365842819214, 0.1084156259894371, 0.8530941605567932, -0.6437976360321045, 0.4303279221057892, 1.3823679685592651, -1.1798440217971802, -0.26052433252334595, -0.0788242369890213, 1.2453399896621704, -0.22983001172542572, 0.23782284557819366, -0.10309576988220215, 0.5769142508506775, 1.2195324897766113, 0.08145546168088913, 0.09994839876890182, 0.4599251449108124, 1.4154680967330933, 0.1632576584815979, 1.3763586282730103, 1.0966413021087646, 1.3731662034988403, 0.1488884836435318, 1.4227834939956665, 0.8731940984725952, 0.1140221506357193, 1.4103333950042725, 0.11556366831064224, 1.3996529579162598, 1.1084589958190918, 0.5624962449073792, -1.106476068496704, 0.4258503019809723, -0.015269768424332142, -0.013501561246812344, -0.004332096315920353, -0.6925057172775269], "std": [0.07490204274654388, 0.04873685538768768, 0.0597851537168026, 0.07253868877887726, 0.23341861367225647, 0.04601331800222397, 0.06687889993190765, 0.16376440227031708, 0.024241827428340912, 0.18149475753307343, 0.03688369318842888, 0.10802367329597473, 0.18112468719482422, 0.04455546289682388, 0.0373319536447525, 0.01052283775061369, 0.21691183745861053, 0.02712371200323105, 0.006206836085766554, 0.06136757507920265, 0.15905211865901947, 0.023881342262029648, 7.939181159599684e-06, 0.048130203038454056, 0.007638995070010424, 0.09628747403621674, 0.03489629179239273, 0.02894364483654499, 0.02614806406199932, 0.2156573086977005, 0.21667557954788208, 0.22063535451889038, 0.16305823624134064, 0.352957546710968, 0.1664636731147766, 0.18292932212352753, 0.1473398208618164, 0.05988693609833717, 0.21430565416812897, 0.18558816611766815, 0.0710517019033432, 0.2107982486486435, 0.040640220046043396, 0.012698198668658733, 0.0589824877679348, 0.1717481017112732, 0.022380774840712547, 0.5396006107330322, 0.23198892176151276, 0.2379070669412613, 0.027049288153648376, 0.5342087745666504, 0.14688466489315033, 0.029196668416261673, 0.17554490268230438, 0.034917328506708145, 0.5764378905296326, 0.4544692039489746, 7.742798334220424e-05, 6.331066833809018e-05, 0.014612986706197262, 0.004935366101562977, 0.004446220584213734, 0.04472490772604942, 0.0979071706533432], "count": [1622]}, "observation.state.joint_torque": {"min": [-43.30649948120117, -12.159000396728516, -27.298999786376953, -11.79699993133545, -0.03519999980926514, -1.6928000450134277, 0.525600016117096, -1.311733365058899, -0.6227549910545349, -0.6561400890350342, -0.889765739440918, -0.36857688426971436, -0.4260021150112152, -0.591029942035675, -0.24239739775657654, -0.04209667816758156, -0.6188544034957886, -0.36363694071769714, -0.08965382725000381, -0.019978083670139313, -0.9047747850418091, -1.4017772674560547, -0.0016602561809122562, -0.02996712550520897, -0.10687166452407837, -0.400096595287323, -0.48644837737083435, -0.12451920658349991, -0.027113113552331924, 14.626500129699707, -10.855500221252441, 5.497000217437744, -14.357000350952148, -2.0088000297546387, -1.167199969291687, -3.852799892425537, -1.4492743015289307, -1.0035396814346313, -0.552996814250946, -0.8375728130340576, -0.11953844130039215, -0.5651243925094604, -1.2588170766830444, -0.08965382725000381, -0.032821137458086014, -0.6332463622093201, -0.43655622005462646, -0.15606407821178436, -0.05422622710466385, -0.8635178208351135, -0.6025435924530029, -0.15274357795715332, -0.03424813970923424, -0.07344678789377213, -0.5037186741828918, -0.8404906988143921, -0.4947563111782074, -0.1084524542093277, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-8.369999885559082, 19.828500747680664, -2.757999897003174, 2.0209999084472656, 1.7976000308990479, 2.3127999305725098, 4.1296000480651855, 1.5549771785736084, 2.142073392868042, 1.6179817914962769, 1.2986105680465698, 0.29718583822250366, 1.0026402473449707, 0.6716249585151672, 0.5196601748466492, 0.0891878679394722, 1.062126874923706, 1.0448565483093262, 0.08301279693841934, 0.12058199942111969, 0.6533951163291931, 0.16886571049690247, 0.0016602561809122562, 0.022118592634797096, 0.1592079997062683, 0.406812846660614, 0.5113944411277771, 0.11289741843938828, 0.01783757284283638, 49.992000579833984, 15.403499603271484, 29.40999984741211, 1.9240000247955322, 0.04879999905824661, 3.687999963760376, 1.8472000360488892, 1.9039236307144165, 2.786478281021118, 1.460160255432129, 1.2302626371383667, 0.41174352169036865, 2.114659309387207, 0.7272739410400391, 1.0575830936431885, 0.21405088901519775, 0.5555298328399658, 0.5238674879074097, 0.19757047295570374, 0.07135029137134552, 0.6505167484283447, 1.2664928436279297, 0.7039486169815063, 0.04281017929315567, 0.49169760942459106, 0.8174635171890259, 0.36363694071769714, 0.5960319638252258, 0.11416048556566238, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-30.190446853637695, 1.9095168113708496, -15.504217147827148, -5.25860071182251, 0.427861750125885, 1.0530551671981812, 1.7253015041351318, 0.06603340059518814, 0.1842297613620758, 0.4899858236312866, 0.2254699021577835, 0.04091266915202141, 0.20056547224521637, 0.005820055492222309, 0.10317445546388626, 0.03554275631904602, 0.2578398287296295, 0.2694205045700073, -0.0019284359877929091, 0.04083288088440895, 0.0023069623857736588, -0.2194855511188507, 0.0, 0.0005591004737652838, 0.007753178011626005, 0.0061341989785432816, -0.00034190277801826596, -0.003414683509618044, -0.0003338795795571059, 28.817319869995117, 3.0923709869384766, 13.820738792419434, -6.93681001663208, -0.6025535464286804, 1.1555627584457397, -1.187429666519165, 0.04485924169421196, 0.353446900844574, 0.13445572555065155, 0.0348811037838459, 0.023102309554815292, 0.2866544723510742, -0.14976808428764343, 0.12242394685745239, 0.03298690915107727, 0.009526005014777184, -0.00033835601061582565, -0.0030502881854772568, 0.0022975553292781115, -0.0004347575595602393, 0.1333010196685791, 0.0018895427929237485, 0.0002287414245074615, 0.184939906001091, -0.004725784529000521, -0.10528013855218887, 0.0020829979330301285, 0.00010293494415236637, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.106477737426758, 1.6623311042785645, 1.0473262071609497, 1.103276252746582, 0.249904602766037, 0.573354184627533, 0.3602680563926697, 0.34994155168533325, 0.40993961691856384, 0.42653873562812805, 0.28880682587623596, 0.0575542151927948, 0.21411888301372528, 0.16377626359462738, 0.10736029595136642, 0.021693820133805275, 0.23056140542030334, 0.2233809381723404, 0.00743761146441102, 0.02400725521147251, 0.20093496143817902, 0.2543657124042511, 5.8299479860579595e-05, 0.005059323739260435, 0.01994960941374302, 0.07422655820846558, 0.07254678010940552, 0.01829230785369873, 0.007363670505583286, 4.124136924743652, 3.4697704315185547, 2.3573596477508545, 3.0198397636413574, 0.29544317722320557, 0.6872769594192505, 0.6512658596038818, 0.39319443702697754, 0.6066442131996155, 0.29342424869537354, 0.27922654151916504, 0.055886201560497284, 0.5141516327857971, 0.3403867781162262, 0.21668197214603424, 0.05940583348274231, 0.07590136677026749, 0.06368782371282578, 0.02908152900636196, 0.006244412157684565, 0.12597011029720306, 0.23765382170677185, 0.024969318881630898, 0.007908209227025509, 0.1620417982339859, 0.10959743708372116, 0.19151431322097778, 0.033824995160102844, 0.007271360140293837, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1622]}, "observation.state.tcp": {"min": [0.31450530886650085, 0.14785270392894745, 1.0344429016113281, -1.3516666889190674, 0.9436389803886414, -1.4752464294433594, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2518620491027832, -0.30957576632499695, 0.999147355556488, -0.16801439225673676, 0.8349323868751526, 0.1691741794347763, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.41520026326179504, 0.24701282382011414, 1.1674365997314453, -0.2758444845676422, 1.3690537214279175, -1.0995409488677979, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4351778030395508, -0.0835450068116188, 1.2552005052566528, 1.2085144519805908, 2.0264832973480225, 1.5686599016189575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3640294075012207, 0.17306123673915863, 1.1076836585998535, -0.5005478262901306, 1.2212908267974854, -1.191116452217102, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3578863739967346, -0.19111935794353485, 1.131434440612793, 0.40799224376678467, 1.505361795425415, 0.9102978706359863, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.015592461451888084, 0.016274239867925644, 0.02799629420042038, 0.2476891726255417, 0.06470327824354172, 0.10638730973005295, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.049955256283283234, 0.0703381672501564, 0.0820990800857544, 0.3597719967365265, 0.30708375573158264, 0.38797619938850403, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1622]}, "action": {"min": [0.7528221607208252, -0.8915345072746277, -5.675741132063227e-18, 1.150575041770935, -0.9304406642913818, -0.7699999809265137, 0.2472546398639679, 0.0, -0.21589714288711548, -0.26430392265319824, -0.3490658402442932, 0.0, 0.0, -0.03306586295366287, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.06230742484331131, 0.0, 0.0, 0.0, 0.0, -0.06805974990129471, 0.0, 0.0, 0.3741052746772766, -1.0904085636138916, 0.0008884742856025696, 1.1011273860931396, -1.6721605062484741, -0.768833577632904, -0.4027681350708008, 0.0, -0.34686070680618286, -0.13773442804813385, -0.3361228108406067, 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, 0.5624915957450867, -1.1069231033325195, 0.41133809089660645, -0.021656731143593788, -0.026329047977924347, -0.12021837383508682, -0.8726646304130554], "max": [1.0553661584854126, -0.6046708822250366, 0.3967989683151245, 1.582066535949707, -9.221837948298455e-18, -0.4503069519996643, 0.5199999809265137, 1.3176894187927246, 0.0, 0.49448928236961365, 0.0, 1.0462807416915894, 1.2789291143417358, 0.19108718633651733, 0.22374814748764038, 0.09169363975524902, 1.3350683450698853, 0.16203731298446655, 0.04843547195196152, 0.21640630066394806, 1.0728249549865723, 0.13011139631271362, 0.0, 0.34158897399902344, 0.07066857814788818, 0.7066857814788818, 0.2581028938293457, 0.17381922900676727, 0.1488727480173111, 1.1047706604003906, -0.22159649431705475, 0.9774770736694336, 1.775346279144287, -0.0014753693249076605, 0.052739065140485764, 0.5185425281524658, 1.3419456481933594, 0.0, 0.54498291015625, 0.3490658402442932, 0.6465728282928467, 1.5503681898117065, 0.15360063314437866, 0.11631917953491211, 0.5131164789199829, 1.5707963705062866, 0.2186989188194275, 1.7453292608261108, 1.2304444313049316, 1.5707963705062866, 0.2467898726463318, 1.7453292608261108, 0.9556224346160889, 0.15341724455356598, 1.5707963705062866, 0.20941239595413208, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106479525566101, 0.5442397594451904, 3.3023552532540634e-05, 1.558192948596699e-19, 0.061779312789440155, -0.548877477645874], "mean": [0.9524911642074585, -0.6732730865478516, 0.16839699447155, 1.3611390590667725, -0.7778663039207458, -0.6038535237312317, 0.321188747882843, 1.2584407329559326, -0.1546693742275238, 0.35322076082229614, -0.33641985058784485, 0.84949791431427, 1.208057165145874, 0.1643180400133133, 0.05170528590679169, 0.08805864304304123, 1.2488092184066772, 0.1428358256816864, 0.006209995597600937, 0.1899968683719635, 1.0079742670059204, 0.050660278648138046, 0.0, 0.32556408643722534, 0.06666866689920425, 0.6666858792304993, 0.04744045436382294, 0.12936726212501526, 0.11087864637374878, 0.8532808423042297, -0.6443185806274414, 0.4299388527870178, 1.3826663494110107, -1.1786710023880005, -0.2606579661369324, -0.07887120544910431, 1.2485542297363281, -0.23059481382369995, 0.24018172919750214, -0.10388269275426865, 0.5795036554336548, 1.2283607721328735, 0.08174934983253479, 0.1032167449593544, 0.46423330903053284, 1.506507158279419, 0.16411584615707397, 1.4232125282287598, 1.098356008529663, 1.4634755849838257, 0.15065355598926544, 1.4992847442626953, 0.8750630617141724, 0.12990210950374603, 1.5029990673065186, 0.11518889665603638, 1.4762202501296997, 1.1825891733169556, 0.5624995231628418, -1.1065735816955566, 0.4258839786052704, -0.015318573452532291, -0.013547222130000591, -0.004336375277489424, -0.6925535798072815], "std": [0.0749422013759613, 0.04879146069288254, 0.0598306804895401, 0.07274580001831055, 0.2332857847213745, 0.04601474478840828, 0.06685297191143036, 0.17640753090381622, 0.024797648191452026, 0.18331298232078552, 0.04602738469839096, 0.12255815416574478, 0.1906333565711975, 0.04460996389389038, 0.03771644085645676, 0.01199964340776205, 0.22343580424785614, 0.02898869663476944, 0.008569860830903053, 0.062085364013910294, 0.16595762968063354, 0.02296210080385208, 0.0, 0.05046278238296509, 0.010365704074501991, 0.10365701466798782, 0.036080360412597656, 0.030944498255848885, 0.026515576988458633, 0.215860515832901, 0.21707367897033691, 0.22063729166984558, 0.16316154599189758, 0.35332581400871277, 0.1665584146976471, 0.18301396071910858, 0.16247519850730896, 0.06913892179727554, 0.21360427141189575, 0.1910814493894577, 0.08150152862071991, 0.22525149583816528, 0.041146550327539444, 0.014728358015418053, 0.0659833550453186, 0.21093207597732544, 0.02530953846871853, 0.5640423893928528, 0.23598818480968475, 0.2773737609386444, 0.030014200136065483, 0.5681607723236084, 0.15233108401298523, 0.03222161903977394, 0.21619893610477448, 0.036439936608076096, 0.6099230647087097, 0.4862801730632782, 2.1915499019087292e-05, 3.7109781260369346e-05, 0.015053734183311462, 0.004956007469445467, 0.004499213304370642, 0.04478706791996956, 0.09796623140573502], "count": [1622]}, "observation.state.tcp_pose": {"min": [0.31450530886650085, 0.14785270392894745, 1.0344429016113281, -1.3516666889190674, 0.9436389803886414, -1.4752464294433594, 0.2518620491027832, -0.30957576632499695, 0.999147355556488, -0.16801439225673676, 0.8349323868751526, 0.1691741794347763], "max": [0.41520026326179504, 0.24701282382011414, 1.1674365997314453, -0.2758444845676422, 1.3690537214279175, -1.0995409488677979, 0.4351778030395508, -0.0835450068116188, 1.2552005052566528, 1.2085144519805908, 2.0264832973480225, 1.5686599016189575], "mean": [0.3640294075012207, 0.17306123673915863, 1.1076836585998535, -0.5005478262901306, 1.2212908267974854, -1.191116452217102, 0.3578863739967346, -0.19111935794353485, 1.131434440612793, 0.40799224376678467, 1.505361795425415, 0.9102978706359863], "std": [0.015592461451888084, 0.016274239867925644, 0.02799629420042038, 0.2476891726255417, 0.06470327824354172, 0.10638730973005295, 0.049955256283283234, 0.0703381672501564, 0.0820990800857544, 0.3597719967365265, 0.30708375573158264, 0.38797619938850403], "count": [1622]}, "action.tcp_pose": {"min": [0.3144718408584595, 0.14802546799182892, 1.0336476564407349, -1.3496545553207397, 0.9437159895896912, -1.477665901184082, 0.2505330443382263, -0.30994951725006104, 0.9991481304168701, -0.16764289140701294, 0.8311880230903625, 0.16875186562538147], "max": [0.4155277907848358, 0.24726314842700958, 1.1672954559326172, -0.2759036123752594, 1.368866205215454, -1.1027437448501587, 0.4351496696472168, -0.08368514478206635, 1.2554075717926025, 1.208101511001587, 2.026308059692383, 1.5585440397262573], "mean": [0.36398234963417053, 0.17301501333713531, 1.1077570915222168, -0.5002171993255615, 1.2211335897445679, -1.1912434101104736, 0.35772261023521423, -0.1912582963705063, 1.1314655542373657, 0.40871575474739075, 1.5055935382843018, 0.9104946255683899], "std": [0.01576359011232853, 0.016237422823905945, 0.028074616566300392, 0.24739760160446167, 0.06473050266504288, 0.10649994760751724, 0.05014470964670181, 0.07056918740272522, 0.08222167938947678, 0.3600970506668091, 0.30726394057273865, 0.38763391971588135], "count": [1622]}, "subtask_index": {"min": [0], "max": [21], "mean": [10.024660912453761], "std": [6.759339046273649], "count": [1622]}, "observation.tactile": {"min": [-9.405757904052734, -0.000885009765625, -0.00103759765625, -0.2692527770996094, -0.03262186050415039, -0.17006897926330566, -0.6108531951904297, -0.024627685546875, -0.00341796875, -0.10198497772216797, -0.011600017547607422, -0.012991189956665039, -0.018489837646484375, -0.003082275390625, -0.00634765625, -0.2536287307739258, -0.021434783935546875, -0.0006887912750244141, -0.0264739990234375, -0.012664794921875, -0.00286865234375, -0.00034046173095703125, -0.0005612373352050781, -0.0005016326904296875, -0.0042400360107421875, -0.006134033203125, -0.0009765625, -0.00026798248291015625, -0.0011072158813476562, -0.00036025047302246094, -3.5774803161621094, -0.01702880859375, -0.00506591796875, -0.35155582427978516, -0.05355644226074219, -0.08630013465881348, -8.056221008300781, -0.00701904296875, -0.0057373046875, -0.17180538177490234, -0.01790332794189453, -0.1169886589050293, -0.016536712646484375, -0.0045166015625, -0.00628662109375, -0.0014486312866210938, -0.0017514228820800781, -0.0005567073822021484, 0.0, -0.008331298828125, -0.011962890625, -0.08089542388916016, -0.0038909912109375, -0.0005178451538085938, -0.015508651733398438, -0.00421142578125, -0.0074462890625, -0.006310462951660156, -0.0019373893737792969, -0.0006077289581298828], "max": [0.0024566650390625, 9.73248291015625, 11.07391357421875, 0.0007715225219726562, 0.0013384819030761719, 6.771087646484375e-05, 3.2421741485595703, 4.590911865234375, 7.057861328125, 0.0022134780883789062, 0.012073993682861328, 0.05314803123474121, 5.170841217041016, 8.490570068359375, 16.49383544921875, 0.0003261566162109375, 0.00769805908203125, 0.09079337120056152, 0.0153656005859375, 0.001739501953125, 0.0074462890625, 0.0003643035888671875, 0.00019550323486328125, 0.0, 0.018976211547851562, 0.005584716796875, 0.005859375, 0.0011043548583984375, 0.000209808349609375, 1.4781951904296875e-05, 5.086582183837891, 16.156707763671875, 14.74322509765625, 0.00124359130859375, 0.03799629211425781, 0.09558463096618652, 0.42229461669921875, 9.3515625, 8.129150390625, 0.0037012100219726562, 0.010035514831542969, 0.011810779571533203, 0.021732330322265625, 0.057037353515625, 0.2037353515625, 0.0014476776123046875, 0.0008368492126464844, 1.2874603271484375e-05, 5.7649993896484375, 3.549407958984375, 4.6363525390625, 0.0018949508666992188, 0.00728607177734375, 0.09976434707641602, 2.751657485961914, 0.597442626953125, 1.12945556640625, 0.0009326934814453125, 0.01045370101928711, 0.02814173698425293], "mean": [-5.247413635253906, 5.814411640167236, 5.024891376495361, -0.11275109648704529, -0.013174356892704964, -0.11027061939239502, 1.3605047464370728, 1.4400794506072998, 3.5941314697265625, -0.04828399792313576, 0.001385505311191082, 0.021160798147320747, 1.3764177560806274, 1.2987802028656006, 3.960552215576172, -0.0696258544921875, -0.0003969216486439109, 0.024328453466296196, -0.011438664048910141, -0.0053441510535776615, 0.00211850693449378, 4.1501883970340714e-05, -8.143037848640233e-05, -0.00026093650376424193, 0.0016823261976242065, 0.0003323913551867008, 0.0022584511898458004, 0.0003980661276727915, -0.0003165840171277523, -0.00012404218432493508, 0.8025262951850891, 2.944605588912964, 2.907844305038452, -0.06752325594425201, -0.004212627187371254, 0.016565602272748947, -1.0235788822174072, 1.0487406253814697, 1.5901494026184082, -0.030999161303043365, -0.003534260205924511, -0.02006634511053562, 0.00514905946329236, 0.0015999997267499566, 0.00012865549069829285, 0.0006078439182601869, -0.0005514035001397133, -0.00025645020650699735, 0.08176103234291077, 0.014847347512841225, 0.028398940339684486, 0.00034510428667999804, -7.771843229420483e-05, 0.0006966512301005423, 0.011896306648850441, 0.0014430468436330557, 0.0022940300405025482, 0.0001657329557929188, -0.0002368922287132591, -0.000126950690173544], "std": [2.4169974327087402, 2.7135872840881348, 2.4003429412841797, 0.05579773336648941, 0.007969113998115063, 0.049047842621803284, 0.7645275592803955, 0.7281240224838257, 1.6450204849243164, 0.021917179226875305, 0.00299663795158267, 0.012941890396177769, 0.838428795337677, 1.0041117668151855, 2.425839900970459, 0.04002956673502922, 0.0048632374964654446, 0.015481197275221348, 0.006389440502971411, 0.00208831112831831, 0.001615433138795197, 0.00010921409557340667, 8.40858047013171e-05, 7.571802416350693e-05, 0.0014281246112659574, 0.0013696340611204505, 0.001158437691628933, 0.0001412515266565606, 0.0001399657630827278, 4.859213368035853e-05, 1.1124625205993652, 4.504692077636719, 4.053793907165527, 0.09331958740949631, 0.013179236091673374, 0.02493821084499359, 1.4490745067596436, 1.490715503692627, 2.0914740562438965, 0.043748654425144196, 0.004021341446787119, 0.027606280520558357, 0.004262708127498627, 0.002342503285035491, 0.00538767920807004, 0.00032794344588182867, 0.00032580195693299174, 0.00011649797670543194, 0.2750851511955261, 0.15387475490570068, 0.21708153188228607, 0.004040504805743694, 0.0007530017173849046, 0.004819083958864212, 0.13578854501247406, 0.02878550812602043, 0.055462855845689774, 0.00038724986370652914, 0.0005912016495130956, 0.0013227483723312616], "count": [1622]}, "timestamp": {"min": [0.0], "max": [54.03333333333333], "mean": [27.016666666666666], "std": [15.607699310845843], "count": [1622]}, "frame_index": {"min": [0], "max": [1621], "mean": [810.5], "std": [468.23097932537524], "count": [1622]}, "episode_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [1622]}, "index": {"min": [26844], "max": [28465], "mean": [27654.5], "std": [468.23097932537524], "count": [1622]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1622]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31580331921577454]], [[0.3151046633720398]], [[0.3150230646133423]]], "std": [[[0.19168832898139954]], [[0.1917543262243271]], [[0.19179226458072662]]], "count": [1622]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30528929829597473]], [[0.30720070004463196]], [[0.3056005835533142]]], "std": [[[0.17227613925933838]], [[0.17446310818195343]], [[0.17365305125713348]]], "count": [1622]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3096578121185303]], [[0.30848923325538635]], [[0.3061697781085968]]], "std": [[[0.17541499435901642]], [[0.17593976855278015]], [[0.17386963963508606]]], "count": [1622]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3077765107154846]], [[0.307123601436615]], [[0.30718013644218445]]], "std": [[[0.1893012672662735]], [[0.189375102519989]], [[0.1894218921661377]]], "count": [1622]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6980392336845398]], [[0.6980392336845398]], [[0.6980392336845398]]], "mean": [[[0.010341808199882507]], [[0.010341808199882507]], [[0.010341808199882507]]], "std": [[[0.06800641864538193]], [[0.06800641864538193]], [[0.06800641864538193]]], "count": [1622]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.9960784316062927]], [[0.9960784316062927]], [[0.9960784316062927]]], "mean": [[[0.4735284149646759]], [[0.4735284149646759]], [[0.4735284149646759]]], "std": [[[0.15322428941726685]], [[0.15322428941726685]], [[0.15322428941726685]]], "count": [1622]}}}
+{"episode_index": 18, "stats": {"observation.state": {"min": [0.7272803783416748, -0.8793090581893921, 2.9720877137151547e-05, 1.216700553894043, -0.7298104166984558, -0.7700034976005554, 0.29103630781173706, 0.008695442229509354, -0.19445109367370605, -0.24431391060352325, -0.31619930267333984, 0.0036172503605484962, 0.0031505702063441277, -9.44460480241105e-05, 0.003390684723854065, 0.0008850721060298383, 0.003196689300239086, 4.145814455114305e-05, 0.0034598244819790125, 0.0008717693854123354, 0.0033024195581674576, 6.476301496149972e-05, 0.0030332852620631456, 0.0010278542758896947, 0.005724223796278238, 0.0032558098901063204, 0.00010156005009775981, 0.006527147721499205, 0.0008606838528066874, 0.4458951950073242, -1.159044623374939, 0.00243267766200006, 1.1820212602615356, -1.8871448040008545, -0.7675341963768005, -0.40077632665634155, 0.028434766456484795, -0.31849434971809387, -0.0788162425160408, -0.2844037115573883, 0.00689660245552659, 0.01396205648779869, -0.06516426801681519, 0.0034906715154647827, 0.003327001817524433, 0.018479272723197937, 0.0012047383934259415, 0.010183754377067089, 0.006941785104572773, 0.013703005388379097, -2.698255229915958e-06, 0.020841913297772408, 0.005495340097695589, 0.012495247647166252, 0.07170779258012772, -0.0005141461151652038, 0.00677746906876564, 0.0008389560971409082, 0.5624915957450867, -1.1069588661193848, 0.48713478446006775, -0.019845876842737198, -0.025310682132840157, -0.09213472157716751, -0.8010255694389343], "max": [1.0500282049179077, -0.6010409593582153, 0.38413119316101074, 1.6863808631896973, -4.494084350881167e-05, -0.3936309814453125, 0.5200079679489136, 1.2790426015853882, 0.0010249810293316841, 0.41502001881599426, -0.002437438117340207, 1.0069851875305176, 1.2115023136138916, 0.1940665990114212, 0.20800359547138214, 0.09438300132751465, 1.304724097251892, 0.1995660811662674, 0.026275236159563065, 0.1767745167016983, 1.0610631704330444, 0.137940913438797, 0.12219938635826111, 0.3506433069705963, 0.06162102892994881, 0.7199718952178955, 0.21599888801574707, 0.12285284698009491, 0.10917913913726807, 1.1996325254440308, -0.3600364625453949, 0.87189120054245, 1.880697250366211, -0.003320229472592473, 0.04842358082532883, 0.5169563293457031, 1.3393808603286743, -0.0014549915213137865, 0.5654563307762146, 0.3132404386997223, 0.6510685682296753, 1.4665281772613525, 0.1251067817211151, 0.10824911296367645, 0.5033510327339172, 1.4667178392410278, 0.20913821458816528, 1.653363823890686, 1.2849857807159424, 1.4671618938446045, 0.21491262316703796, 1.6536861658096313, 0.9843371510505676, 0.14661097526550293, 1.466644048690796, 0.17809927463531494, 1.6534709930419922, 1.3081134557724, 0.5629709362983704, -1.1066712141036987, 0.5435085892677307, 0.012463593855500221, 0.0, 0.11121360957622528, -0.5436044335365295], "mean": [0.9372876286506653, -0.6799050569534302, 0.2139921933412552, 1.3640559911727905, -0.647691011428833, -0.5633895397186279, 0.3830167055130005, 1.2443729639053345, -0.14532171189785004, 0.3164675235748291, -0.3081745207309723, 0.8565269708633423, 1.1488624811172485, 0.1597645878791809, 0.1600968837738037, 0.08876921981573105, 1.234266757965088, 0.1329735666513443, 0.004144628066569567, 0.16002260148525238, 1.0000011920928955, 0.06878744810819626, 0.06022011861205101, 0.3373045027256012, 0.060166191309690475, 0.6707181334495544, 0.084750697016716, 0.10771556943655014, 0.09293069690465927, 0.9312132596969604, -0.7331488132476807, 0.3536651134490967, 1.443145751953125, -1.1720482110977173, -0.2345963418483734, -0.10161842405796051, 1.2482810020446777, -0.24220584332942963, 0.2345878630876541, -0.09868816286325455, 0.5691511631011963, 1.2146999835968018, 0.0621771477162838, 0.09933854639530182, 0.4398972690105438, 1.3916813135147095, 0.15562468767166138, 1.3988856077194214, 1.1199846267700195, 1.3481796979904175, 0.13671885430812836, 1.4348714351654053, 0.8788223266601562, 0.11301755160093307, 1.4154459238052368, 0.10099641978740692, 1.3998087644577026, 1.1190613508224487, 0.5626835823059082, -1.106848955154419, 0.500618577003479, -0.0059371450915932655, -0.011569192633032799, 0.015566692687571049, -0.6686069965362549], "std": [0.059230588376522064, 0.0616847388446331, 0.04931988567113876, 0.11106067150831223, 0.1568511426448822, 0.04504132270812988, 0.03144022449851036, 0.15151290595531464, 0.02197633683681488, 0.15296098589897156, 0.037131667137145996, 0.1062336266040802, 0.1620476245880127, 0.024395078420639038, 0.05282536521553993, 0.011538296937942505, 0.19820159673690796, 0.018325410783290863, 0.002749014412984252, 0.041994545608758926, 0.14524485170841217, 0.020578378811478615, 0.026055818423628807, 0.047785110771656036, 0.007157878018915653, 0.09052817523479462, 0.03161880001425743, 0.02340238355100155, 0.02102079801261425, 0.2113644778728485, 0.19364862143993378, 0.20019923150539398, 0.18011797964572906, 0.4375588893890381, 0.15718349814414978, 0.16226591169834137, 0.14995767176151276, 0.05328742787241936, 0.20989938080310822, 0.1349932998418808, 0.0713987797498703, 0.21988993883132935, 0.03628116101026535, 0.013387979008257389, 0.06800565868616104, 0.19413471221923828, 0.028956472873687744, 0.515658438205719, 0.23305214941501617, 0.2441008985042572, 0.03314366564154625, 0.5197290778160095, 0.1400056779384613, 0.030227744951844215, 0.1634945422410965, 0.033723149448633194, 0.52376389503479, 0.4116118550300598, 4.801516479346901e-05, 3.752501288545318e-05, 0.01054020319133997, 0.007790652569383383, 0.007115169893950224, 0.05347570404410362, 0.08212226629257202], "count": [1487]}, "observation.state.joint_torque": {"min": [-43.72800064086914, -5.61899995803833, -23.25200080871582, -13.812000274658203, -0.1128000020980835, -0.6304000020027161, 0.14399999380111694, -0.7717576622962952, -0.6698755025863647, -0.857455849647522, -0.7530698776245117, -0.388499915599823, -0.3099069595336914, -0.7973148226737976, -0.24571789801120758, -0.04281017929315567, -0.5814353227615356, -0.3454071283340454, -0.05644870921969414, -0.021405089646577835, -0.6649087071418762, -0.7598956227302551, -0.10459613054990768, -0.026399608701467514, -0.0971960499882698, -0.5075565576553345, -0.4096912443637848, -0.11123716086149216, -0.02925362065434456, 5.2829999923706055, -4.067999839782715, 1.0889999866485596, -12.784000396728516, -1.7760000228881836, -0.6791999936103821, -3.353600025177002, -1.1818335056304932, -0.9169398546218872, -0.6387424468994141, -1.3147656917572021, -0.1959102302789688, -0.47013747692108154, -1.2415467500686646, -0.07803203910589218, -0.022832093760371208, -0.3597990870475769, -0.4547860324382782, -0.16270509362220764, -0.027113113552331924, -0.5574487447738647, -0.6409221291542053, -0.14444229006767273, -0.027826614677906036, -0.054535336792469025, -0.4116101562976837, -1.2645738124847412, -0.35861530900001526, -0.06920978426933289, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-11.134499549865723, 12.192000389099121, -3.756999969482422, -1.4320000410079956, 1.7552000284194946, 1.5831999778747559, 5.303999900817871, 0.7042607069015503, 0.517052173614502, 1.3097947835922241, 0.9978798031806946, 0.2108525186777115, 1.2204385995864868, 0.5747190713882446, 0.6292370557785034, 0.12272251397371292, 0.6591519117355347, 0.6601113677024841, 0.0796922892332077, 0.04209667816758156, 0.6620303392410278, 0.2792041003704071, 0.07803203910589218, 0.022832093760371208, 0.07300698012113571, 0.39146143198013306, 0.3952992856502533, 0.10127562284469604, 0.01855107769370079, 49.39799880981445, 14.632499694824219, 29.224000930786133, -0.39500001072883606, 0.1080000028014183, 3.232800006866455, 1.5312000513076782, 2.01599383354187, 3.9466617107391357, 1.5583328008651733, 1.4104527235031128, 0.46487167477607727, 1.68002188205719, 1.2473036050796509, 0.8500511646270752, 0.15625715255737305, 0.8875043988227844, 0.4048939049243927, 0.24239739775657654, 0.06064775213599205, 0.8011526465415955, 1.1216137409210205, 0.17100638151168823, 0.04923170804977417, 0.49169760942459106, 0.54881352186203, 0.4471103250980377, 0.3984614610671997, 0.07420431077480316, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.253156661987305, 2.7181549072265625, -15.068840980529785, -6.007894039154053, 0.517572820186615, 0.7520727515220642, 1.9552569389343262, -0.0014191411901265383, -0.002558189444243908, 0.2289155274629593, 0.10011054575443268, 0.019133705645799637, 0.3655798137187958, -0.17984099686145782, 0.1959235966205597, 0.057029303163290024, 0.03682806342840195, 0.04428309574723244, -0.0011243284679949284, 0.01145252026617527, 0.031048795208334923, -0.03695257008075714, -0.002888416638597846, 0.0011755790328606963, -0.0004888977273367345, 0.01402030698955059, 0.039638686925172806, -0.0009936963906511664, -4.7021781938383356e-05, 27.492881774902344, 3.8529257774353027, 14.340655326843262, -6.368575096130371, -0.5811060667037964, 1.156801700592041, -1.1262364387512207, -0.01837237924337387, 0.4273671507835388, 0.12677612900733948, 0.1344844549894333, 0.049452632665634155, 0.2901305854320526, -0.03145973011851311, 0.12957577407360077, 0.031346116214990616, 0.008111268281936646, 0.007425994612276554, 0.00012616511958185583, 0.00044863662333227694, -0.021153375506401062, 0.17557339370250702, 0.0013666131999343634, 0.0004803071788046509, 0.20762844383716583, 0.013385355472564697, -0.163374125957489, -0.0038899355567991734, -0.0008780839270912111, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.327343463897705, 1.7785815000534058, 1.0286320447921753, 1.2006546258926392, 0.211144357919693, 0.41565343737602234, 0.45622894167900085, 0.13044647872447968, 0.0836935043334961, 0.32323548197746277, 0.22151516377925873, 0.03902064263820648, 0.2506262958049774, 0.22714702785015106, 0.14515116810798645, 0.029380353167653084, 0.11530964076519012, 0.10980650782585144, 0.007067276164889336, 0.010253610089421272, 0.11925818026065826, 0.1368030458688736, 0.016775555908679962, 0.005170022137463093, 0.007588217034935951, 0.08755102753639221, 0.07779401540756226, 0.018839916214346886, 0.00713479146361351, 4.71947717666626, 3.1120553016662598, 1.969573736190796, 2.4983818531036377, 0.29250800609588623, 0.6571329832077026, 0.7487760782241821, 0.39851510524749756, 0.8563553094863892, 0.31394320726394653, 0.32442787289619446, 0.08837702870368958, 0.47904255986213684, 0.36377447843551636, 0.19951412081718445, 0.04361693188548088, 0.09469424188137054, 0.09287794679403305, 0.022602925077080727, 0.006123245693743229, 0.13404931128025055, 0.2895117700099945, 0.012751181609928608, 0.007789997383952141, 0.17248502373695374, 0.098168283700943, 0.23017330467700958, 0.029338417574763298, 0.00597189087420702, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1487]}, "observation.state.tcp": {"min": [0.3338060975074768, 0.15192648768424988, 1.0306087732315063, -1.2211602926254272, 1.1071685552597046, -1.521445393562317, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2718949317932129, -0.32118889689445496, 0.989668607711792, -0.5192267298698425, 0.9052541851997375, 0.1658962070941925, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.42859789729118347, 0.259567528963089, 1.1431667804718018, -0.49977341294288635, 1.3698058128356934, -1.1927117109298706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4489302933216095, -0.07915027439594269, 1.2454345226287842, 1.2072036266326904, 2.02067232131958, 1.4618535041809082, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.38744357228279114, 0.17959235608577728, 1.0815143585205078, -0.6513047218322754, 1.2512153387069702, -1.2721983194351196, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3774040639400482, -0.20413006842136383, 1.115378499031067, 0.3577801585197449, 1.5940585136413574, 0.868434727191925, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.021201319992542267, 0.017064807936549187, 0.020696161314845085, 0.16702614724636078, 0.04014192894101143, 0.09161790460348129, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.055061809718608856, 0.06614778190851212, 0.07845521718263626, 0.4471256732940674, 0.25443610548973083, 0.3967030346393585, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1487]}, "action": {"min": [0.7270748615264893, -0.8794350624084473, 2.2097875706315774e-18, 1.2163023948669434, -0.7298024892807007, -0.7699999809265137, 0.29096224904060364, 0.0, -0.19307905435562134, -0.2518593966960907, -0.3490658402442932, 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, 0.4459158480167389, -1.1601194143295288, 0.0019827131181955338, 1.1819167137145996, -1.8871991634368896, -0.7675105333328247, -0.40081802010536194, 0.0, -0.34187525510787964, -0.08184000849723816, -0.2847345471382141, 0.0, 0.0, -0.06489569693803787, 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, 0.5626833438873291, -1.1069231033325195, 0.48674774169921875, -0.020376132801175117, -0.026116862893104553, -0.09210961312055588, -0.801123321056366], "max": [1.0499999523162842, -0.6008790731430054, 0.3844981789588928, 1.6866568326950073, 3.712602317841742e-17, -0.3936043977737427, 0.5199999809265137, 1.289502501487732, 0.0, 0.42193204164505005, 0.0, 1.0147475004196167, 1.2193167209625244, 0.19137471914291382, 0.2118254154920578, 0.09572038799524307, 1.312103509902954, 0.19894880056381226, 0.03027920611202717, 0.17812387645244598, 1.0691498517990112, 0.13653486967086792, 0.12645304203033447, 0.35445520281791687, 0.0725381150841713, 0.7253811359405518, 0.2140967845916748, 0.13006238639354706, 0.11136695742607117, 1.1996872425079346, -0.36001160740852356, 0.8723642230033875, 1.88108229637146, -0.003142888192087412, 0.04860300570726395, 0.5174801349639893, 1.3426170349121094, 0.0, 0.571731686592102, 0.3490658402442932, 0.6573107242584229, 1.565792202949524, 0.13289183378219604, 0.11683783680200577, 0.5081697702407837, 1.5707963705062866, 0.20901530981063843, 1.7453292608261108, 1.2869620323181152, 1.5707963705062866, 0.21486395597457886, 1.7453292608261108, 0.9863977432250977, 0.161393940448761, 1.5707963705062866, 0.18332141637802124, 1.7453292608261108, 1.3962633609771729, 0.5627791881561279, -1.106863021850586, 0.5442397594451904, 0.012809475883841515, -2.3223783291310437e-19, 0.11122404038906097, -0.5426250696182251], "mean": [0.9372787475585938, -0.6799485683441162, 0.2139914184808731, 1.3642041683197021, -0.647676944732666, -0.5633633136749268, 0.3830108344554901, 1.2433395385742188, -0.1484553962945938, 0.32151469588279724, -0.341481477022171, 0.8584241271018982, 1.1538869142532349, 0.15841425955295563, 0.1641799360513687, 0.09145845472812653, 1.234544277191162, 0.13156229257583618, 0.0007225774461403489, 0.16197630763053894, 1.005398154258728, 0.0680798664689064, 0.061666712164878845, 0.3396926522254944, 0.06737632304430008, 0.673764169216156, 0.08696840703487396, 0.11140841245651245, 0.0954776182770729, 0.9315862655639648, -0.7334343194961548, 0.3531285226345062, 1.4430770874023438, -1.1703554391860962, -0.2347283661365509, -0.10164860635995865, 1.2487410306930542, -0.24165432155132294, 0.2362995594739914, -0.09829197078943253, 0.571673572063446, 1.2278128862380981, 0.062352556735277176, 0.10218234360218048, 0.4418739378452301, 1.4700924158096313, 0.15544946491718292, 1.4591132402420044, 1.1201086044311523, 1.4265015125274658, 0.1370583176612854, 1.5075418949127197, 0.879584550857544, 0.12919509410858154, 1.5059237480163574, 0.1000983938574791, 1.4660624265670776, 1.183894157409668, 0.562683641910553, -1.1068496704101562, 0.5006747841835022, -0.005959969945251942, -0.011602374725043774, 0.015552769415080547, -0.6686246395111084], "std": [0.059401728212833405, 0.061728183180093765, 0.04949470981955528, 0.11125851422548294, 0.15693338215351105, 0.04509999230504036, 0.031641919165849686, 0.17073772847652435, 0.024773329496383667, 0.15574556589126587, 0.049067363142967224, 0.12701641023159027, 0.17986828088760376, 0.02644798904657364, 0.05513409152626991, 0.01333534438163042, 0.2110564261674881, 0.021931307390332222, 0.003759201616048813, 0.04358794912695885, 0.16028639674186707, 0.020951226353645325, 0.02763545699417591, 0.05338561534881592, 0.010237585753202438, 0.10237587988376617, 0.032524675130844116, 0.024761617183685303, 0.02122051641345024, 0.2116060107946396, 0.194149911403656, 0.20013496279716492, 0.18018022179603577, 0.4384962022304535, 0.15739604830741882, 0.162178173661232, 0.17181110382080078, 0.06024522706866264, 0.20991575717926025, 0.1395743191242218, 0.0850767120718956, 0.24489741027355194, 0.03690701723098755, 0.015716757625341415, 0.07644550502300262, 0.24023973941802979, 0.03145291656255722, 0.553180992603302, 0.24332547187805176, 0.2915298640727997, 0.03510502725839615, 0.5589892864227295, 0.15035222470760345, 0.03375997021794319, 0.2114969789981842, 0.035210393369197845, 0.5586831569671631, 0.44314438104629517, 5.95392748437007e-06, 1.593368324392941e-05, 0.010704876855015755, 0.007847392000257969, 0.0071434504352509975, 0.05355485901236534, 0.08223038911819458], "count": [1487]}, "observation.state.tcp_pose": {"min": [0.3338060975074768, 0.15192648768424988, 1.0306087732315063, -1.2211602926254272, 1.1071685552597046, -1.521445393562317, 0.2718949317932129, -0.32118889689445496, 0.989668607711792, -0.5192267298698425, 0.9052541851997375, 0.1658962070941925], "max": [0.42859789729118347, 0.259567528963089, 1.1431667804718018, -0.49977341294288635, 1.3698058128356934, -1.1927117109298706, 0.4489302933216095, -0.07915027439594269, 1.2454345226287842, 1.2072036266326904, 2.02067232131958, 1.4618535041809082], "mean": [0.38744357228279114, 0.17959235608577728, 1.0815143585205078, -0.6513047218322754, 1.2512153387069702, -1.2721983194351196, 0.3774040639400482, -0.20413006842136383, 1.115378499031067, 0.3577801585197449, 1.5940585136413574, 0.868434727191925], "std": [0.021201319992542267, 0.017064807936549187, 0.020696161314845085, 0.16702614724636078, 0.04014192894101143, 0.09161790460348129, 0.055061809718608856, 0.06614778190851212, 0.07845521718263626, 0.4471256732940674, 0.25443610548973083, 0.3967030346393585], "count": [1487]}, "action.tcp_pose": {"min": [0.3335384428501129, 0.15183541178703308, 1.0301557779312134, -1.2196767330169678, 1.1035465002059937, -1.5226012468338013, 0.2717963457107544, -0.32837042212486267, 0.9895690083503723, -0.518767237663269, 0.9015247225761414, 0.16588066518306732], "max": [0.428529292345047, 0.26030150055885315, 1.1431297063827515, -0.4996630847454071, 1.3704125881195068, -1.1934033632278442, 0.4490269422531128, -0.07983749359846115, 1.2479453086853027, 1.2073757648468018, 2.020733118057251, 1.4657623767852783], "mean": [0.3874295949935913, 0.17955851554870605, 1.0814999341964722, -0.6513291597366333, 1.251323938369751, -1.2723339796066284, 0.37734678387641907, -0.20425070822238922, 1.115334391593933, 0.3592732846736908, 1.5944093465805054, 0.8687413334846497], "std": [0.02126704342663288, 0.017037518322467804, 0.020863482728600502, 0.16716083884239197, 0.040149059146642685, 0.09169765561819077, 0.055186860263347626, 0.06660923361778259, 0.07857345789670944, 0.4479907155036926, 0.25440698862075806, 0.3968486189842224], "count": [1487]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.639542703429724], "std": [6.788514118233001], "count": [1487]}, "observation.tactile": {"min": [-9.944877624511719, -0.004638671875, -0.0010986328125, -0.2416820526123047, -0.027776718139648438, -0.17263579368591309, -1.1327571868896484, -0.001861572265625, -0.0035400390625, -0.2617635726928711, -0.014514923095703125, -0.02340555191040039, -1.3107147216796875, -0.02691650390625, -0.0052490234375, -0.17679119110107422, -0.016286849975585938, -0.031319379806518555, -0.015338897705078125, -0.006439208984375, -0.00518798828125, -0.00026702880859375, -0.0007028579711914062, -0.00032067298889160156, -0.006946563720703125, -0.00640869140625, -0.00042724609375, -0.000244140625, -0.0008959770202636719, -0.00026237964630126953, -0.007785797119140625, -0.027618408203125, 0.0, -0.38459110260009766, -0.024949073791503906, -0.0049664974212646484, -6.74755859375, -0.008331298828125, 0.0, -0.14560413360595703, -0.02822113037109375, -0.1100766658782959, -0.016986846923828125, -0.006011962890625, -0.00628662109375, -0.0003299713134765625, -0.0013027191162109375, -0.0005505084991455078, -0.0323638916015625, -0.02301025390625, -0.01434326171875, -0.0024576187133789062, -0.0011234283447265625, -0.0005481243133544922, -0.029237747192382812, -0.00732421875, -0.0057373046875, -0.00027179718017578125, -0.0006394386291503906, -0.0003142356872558594], "max": [0.07660675048828125, 7.892486572265625, 9.92547607421875, 0.0009946823120117188, 0.0039043426513671875, 0.0016405582427978516, 5.306695938110352, 8.79803466796875, 17.17144775390625, 0.0019388198852539062, 0.013156890869140625, 0.09266805648803711, 5.6121368408203125, 7.73651123046875, 11.74365234375, 0.0029039382934570312, 0.020563125610351562, 0.09932637214660645, 0.01177215576171875, 0.0058441162109375, 0.0042724609375, 0.00060272216796875, 0.00014019012451171875, 0.0, 0.012264251708984375, 0.005401611328125, 0.00848388671875, 0.001010894775390625, 0.000225067138671875, 5.5789947509765625e-05, 10.18844985961914, 22.297576904296875, 15.610595703125, 0.0024366378784179688, 0.055861473083496094, 0.17297768592834473, 2.44970703125, 9.16473388671875, 8.47308349609375, 0.0024328231811523438, 0.0027904510498046875, 0.0527956485748291, 0.023174285888671875, 0.004638671875, 0.00555419921875, 0.00140380859375, 0.00019216537475585938, 0.0, 0.2967071533203125, 0.203155517578125, 0.44305419921875, 0.001186370849609375, 0.0014843940734863281, 0.004933595657348633, 0.0057621002197265625, 0.006103515625, 0.0093994140625, 0.000705718994140625, 0.00018739700317382812, 8.654594421386719e-05], "mean": [-5.001964569091797, 4.721730709075928, 3.8764607906341553, -0.08343695849180222, -0.009740466251969337, -0.10441186279058456, 1.3912569284439087, 1.8829256296157837, 5.314366340637207, -0.08165798336267471, -0.0009063834440894425, 0.024639535695314407, 0.18173712491989136, 0.6411807537078857, 1.4158071279525757, -0.02499646693468094, 0.001244417973794043, 0.0027410683687776327, 0.0021513942629098892, 0.00020874885376542807, -0.0008698022575117648, 0.00010898951586568728, -0.00010721621220000088, -0.0001028140468406491, 0.000550720957107842, 0.0004911134019494057, 0.0037155509926378727, 0.00015780456305947155, -0.00013416119327303022, -5.7116641983157024e-05, 2.029348850250244, 2.511181592941284, 2.9934983253479004, -0.0719846710562706, 0.0006394761730916798, 0.03952013701200485, -0.5991759896278381, 1.4750181436538696, 1.6356652975082397, -0.031037911772727966, -0.003904318902641535, -0.009886878542602062, 0.006483961828052998, 0.00010542622476350516, -0.0003569756227079779, 0.0005067980382591486, -0.0005202992470003664, -0.00027407408924773335, 0.0024736414197832346, 0.0006014035898260772, -0.00529678026214242, 0.0003395369276404381, -0.00027849391335621476, -0.0002033257478615269, -0.006828558165580034, 0.00029419601196423173, 0.0013754048850387335, 0.0002165103651350364, -6.789077451685444e-05, -0.00010011078848037869], "std": [2.2185020446777344, 2.108355760574341, 1.8465192317962646, 0.041450634598731995, 0.005792239680886269, 0.045342229306697845, 0.739169180393219, 1.0712251663208008, 2.5392558574676514, 0.03849506378173828, 0.0026268039364367723, 0.013003252446651459, 0.637060821056366, 0.7878258228302002, 1.2209545373916626, 0.019574416801333427, 0.0027115948032587767, 0.011661411263048649, 0.0025310006458312273, 0.0016786771593615413, 0.0016071585705503821, 0.00011322592035867274, 8.59387218952179e-05, 4.582595647661947e-05, 0.0016223444836214185, 0.001372380182147026, 0.0012164963409304619, 0.00013750075595453382, 0.00013103766832500696, 4.5459531975211576e-05, 2.605959892272949, 3.8281209468841553, 3.9604978561401367, 0.09649036824703217, 0.00856215413659811, 0.05064171180129051, 1.6331391334533691, 2.0200352668762207, 2.201274871826172, 0.04156561195850372, 0.005639876239001751, 0.031002553179860115, 0.005504703149199486, 0.0015704154502600431, 0.0019095281604677439, 0.0003410822246223688, 0.00035204930463805795, 0.00012188787513878196, 0.011689222417771816, 0.005819026380777359, 0.012191864661872387, 0.0002851858444046229, 0.00029601604910567403, 0.00017895307973958552, 0.007373501546680927, 0.0015872580697759986, 0.0018614487489685416, 0.0001345473137916997, 0.00011010850721504539, 6.805821612942964e-05], "count": [1487]}, "timestamp": {"min": [0.0], "max": [49.53333333333333], "mean": [24.766666666666662], "std": [14.308660935872991], "count": [1487]}, "frame_index": {"min": [0], "max": [1486], "mean": [743.0], "std": [429.25982807618976], "count": [1487]}, "episode_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [1487]}, "index": {"min": [28466], "max": [29952], "mean": [29209.0], "std": [429.25982807618976], "count": [1487]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1487]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33507415652275085]], [[0.33426806330680847]], [[0.3341042399406433]]], "std": [[[0.20920078456401825]], [[0.2092023640871048]], [[0.2091323286294937]]], "count": [1487]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30675047636032104]], [[0.3083992302417755]], [[0.30636894702911377]]], "std": [[[0.1730087697505951]], [[0.17508584260940552]], [[0.1737038940191269]]], "count": [1487]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3087105453014374]], [[0.30768540501594543]], [[0.30588212609291077]]], "std": [[[0.17343540489673615]], [[0.17409837245941162]], [[0.17248807847499847]]], "count": [1487]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33104535937309265]], [[0.33024513721466064]], [[0.33025696873664856]]], "std": [[[0.20806749165058136]], [[0.2080746293067932]], [[0.20805683732032776]]], "count": [1487]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7333333492279053]], [[0.7333333492279053]], [[0.7333333492279053]]], "mean": [[[0.009614530019462109]], [[0.009614530019462109]], [[0.009614530019462109]]], "std": [[[0.06592309474945068]], [[0.06592309474945068]], [[0.06592309474945068]]], "count": [1487]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.95686274766922]], [[0.95686274766922]], [[0.95686274766922]]], "mean": [[[0.4740246832370758]], [[0.4740246832370758]], [[0.4740246832370758]]], "std": [[[0.15316461026668549]], [[0.15316461026668549]], [[0.15316461026668549]]], "count": [1487]}}}
+{"episode_index": 19, "stats": {"observation.state": {"min": [0.7363733053207397, -0.8262080550193787, 3.5952675148109847e-07, 1.1677215099334717, -0.8149492144584656, -0.7700011730194092, 0.3200775384902954, 0.007589879911392927, -0.19212451577186584, -0.2551767826080322, -0.31607961654663086, 0.002633692929521203, 0.003145173192024231, -0.0001866840320872143, 0.0034144404344260693, 0.0008150112116709352, 0.003965258598327637, -0.000743056763894856, 0.0034491876140236855, 0.0008296442101709545, 0.003245506901293993, 3.385335367056541e-05, 0.0031403633765876293, 0.0008735430892556906, 0.005886916536837816, 0.003259489545598626, 0.00011578827252378687, 0.006527502555400133, 0.00083496532170102, 0.26460209488868713, -1.207281470298767, 0.0005360543727874756, 1.119997501373291, -1.7918152809143066, -0.7693694233894348, -0.4042237102985382, 0.00757090887054801, -0.3209627866744995, -0.15689723193645477, -0.2897511422634125, 0.006869656033813953, 0.013039429672062397, -0.00010327706695534289, 0.0034945716615766287, 0.0013994426699355245, 0.012376346625387669, -0.0005335590685717762, 0.003398130415007472, 0.0048803118988871574, 0.007537278346717358, -8.389727008761838e-05, 0.009420380927622318, 0.0033513903617858887, 0.010486203245818615, 0.01493031159043312, 0.0002009121235460043, 0.006770023610442877, 0.0008487114100717008, 0.5621080994606018, -1.1070547103881836, 0.4825328290462494, -0.011121360585093498, -0.02377670258283615, -0.08676578849554062, -0.7924928069114685], "max": [1.0500260591506958, -0.5637384653091431, 0.3537233769893646, 1.6051652431488037, 1.1984224101979635e-07, -0.35416439175605774, 0.5200124382972717, 1.2607488632202148, -4.0110131521942094e-05, 0.46632781624794006, -0.002386109670624137, 0.9770210385322571, 1.1631412506103516, 0.218208909034729, 0.20803622901439667, 0.08828993141651154, 1.2920548915863037, 0.20855996012687683, 0.007561407517641783, 0.15800444781780243, 1.1164590120315552, 0.13441374897956848, 0.0032031210139393806, 0.3414551317691803, 0.061676688492298126, 0.6804554462432861, 0.15890689194202423, 0.08413741737604141, 0.0731998085975647, 1.1627897024154663, -0.3495470881462097, 0.9092400074005127, 1.9503893852233887, -0.0005921405390836298, 0.04726902022957802, 0.5193260908126831, 1.3213199377059937, 0.004090708214789629, 0.5792412757873535, 0.31443026661872864, 0.6490514278411865, 1.4633519649505615, 0.1248234286904335, 0.10825300961732864, 0.535645067691803, 1.4648468494415283, 0.22319911420345306, 1.653359293937683, 1.3080363273620605, 1.466752052307129, 0.2625482678413391, 1.6536678075790405, 0.9752097725868225, 0.14574077725410461, 1.4668159484863281, 0.1969163566827774, 1.6534422636032104, 1.3081222772598267, 0.5629709362983704, -1.1066712141036987, 0.5441796779632568, 0.006327670533210039, 0.0, 0.05627791956067085, -0.5358386635780334], "mean": [0.9317924380302429, -0.6284974217414856, 0.2184194028377533, 1.2815698385238647, -0.6861911416053772, -0.45931556820869446, 0.44084158539772034, 1.2235478162765503, -0.1560068130493164, 0.365504652261734, -0.3071976900100708, 0.8472738265991211, 1.1124942302703857, 0.19425538182258606, 0.16533365845680237, 0.08475957810878754, 1.2116283178329468, 0.17149801552295685, 0.006466697435826063, 0.13864243030548096, 1.0521000623703003, 0.08335059881210327, 0.003163888119161129, 0.32987335324287415, 0.038407836109399796, 0.6342991590499878, 0.07590248435735703, 0.06450800597667694, 0.05653290078043938, 0.8847076296806335, -0.7304630279541016, 0.4002043604850769, 1.4581379890441895, -1.1801918745040894, -0.2263919562101364, -0.11508499830961227, 1.2327277660369873, -0.24142563343048096, 0.25914648175239563, -0.09204140305519104, 0.5884517431259155, 1.241146206855774, 0.07790853828191757, 0.0988016277551651, 0.4408610761165619, 1.3950989246368408, 0.17067842185497284, 1.4210865497589111, 1.1430212259292603, 1.3178168535232544, 0.15882612764835358, 1.50416898727417, 0.8584226369857788, 0.11175234615802765, 1.4161999225616455, 0.13089856505393982, 1.366036295890808, 1.0825172662734985, 0.5626831650733948, -1.1068509817123413, 0.48822566866874695, -0.004671226255595684, -0.00944646168500185, -0.005413885693997145, -0.6634804010391235], "std": [0.062251441180706024, 0.07088091969490051, 0.048999086022377014, 0.11381622403860092, 0.19537465274333954, 0.04893752187490463, 0.02475842833518982, 0.16245517134666443, 0.02176531031727791, 0.16677634418010712, 0.04058784618973732, 0.11231938004493713, 0.16003376245498657, 0.03190917149186134, 0.06195974349975586, 0.011403522454202175, 0.20595605671405792, 0.024444714188575745, 0.0008807000704109669, 0.034674618393182755, 0.17067211866378784, 0.015201129019260406, 7.735324288660195e-06, 0.04615352302789688, 0.008745432831346989, 0.09109023958444595, 0.019002364948391914, 0.01889275573194027, 0.01764683984220028, 0.24628648161888123, 0.18769091367721558, 0.2244790941476822, 0.2019980549812317, 0.4040912389755249, 0.15880535542964935, 0.17139576375484467, 0.16440972685813904, 0.053311534225940704, 0.21307966113090515, 0.17961105704307556, 0.0797552540898323, 0.20711448788642883, 0.026384837925434113, 0.014212938956916332, 0.07690329104661942, 0.19845040142536163, 0.025178393349051476, 0.4702868163585663, 0.2211928367614746, 0.32173165678977966, 0.03330310061573982, 0.3398877680301666, 0.16448023915290833, 0.028554903343319893, 0.17205245792865753, 0.02694942057132721, 0.6021803021430969, 0.4747619926929474, 5.818177305627614e-05, 3.952284896513447e-05, 0.007421818561851978, 0.005038187373429537, 0.0057495818473398685, 0.035891324281692505, 0.07301434129476547], "count": [1431]}, "observation.state.joint_torque": {"min": [-48.022499084472656, -10.072500228881836, -24.711999893188477, -10.317999839782715, -0.3944000005722046, -1.253600001335144, 0.4320000112056732, -1.1945687532424927, -0.7615694403648376, -0.8934938311576843, -0.8338447213172913, -0.4034422039985657, -0.4029749631881714, -0.5008403062820435, -0.3453332483768463, -0.04352368041872978, -0.46246176958084106, -0.4432724714279175, -0.048147425055503845, -0.028540121391415596, -0.6668276786804199, -1.460304617881775, -0.0, -0.026399608701467514, -0.09323783218860626, -0.38762354850769043, -0.5756785273551941, -0.11289741843938828, -0.027826614677906036, 12.032999992370605, -6.39300012588501, 3.6619999408721924, -13.64799976348877, -1.8711999654769897, -2.700000047683716, -2.932800054550171, -1.3461185693740845, -0.9525985717773438, -0.905920684337616, -0.9233183264732361, -0.1859486699104309, -0.5046781897544861, -1.2463440895080566, -0.10791664570569992, -0.021405089646577835, -0.4922051727771759, -0.32046106457710266, -0.19258970022201538, -0.019978083670139313, -0.4989214241504669, -0.5497730374336243, -0.22579483687877655, -0.03424813970923424, -0.049697522073984146, -0.3665153384208679, -0.8126662373542786, -0.12451920658349991, -0.04423718526959419, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-6.076499938964844, 17.36400032043457, -0.16699999570846558, 0.9869999885559082, 1.7727999687194824, 1.6216000318527222, 3.819999933242798, 1.0188220739364624, 0.663507878780365, 1.2165931463241577, 0.8052628636360168, 0.167685866355896, 0.4806915819644928, 0.47493478655815125, 0.29718583822250366, 0.057793740183115005, 0.6591519117355347, 0.6860169172286987, 0.06474998593330383, 0.05351272225379944, 0.8174635171890259, 0.24658231437206268, 0.0016602561809122562, 0.025686107575893402, 0.08048360049724579, 0.39913710951805115, 0.3722721338272095, 0.0979551151394844, 0.016410568729043007, 48.37200164794922, 15.016500473022461, 26.864999771118164, 0.878000020980835, 0.10400000214576721, 2.812000036239624, 0.3391999900341034, 1.865717887878418, 3.8638827800750732, 1.5421777963638306, 1.1917393207550049, 0.5445640087127686, 1.946752905845642, 0.5334621667861938, 1.0559228658676147, 0.21405088901519775, 0.5737596154212952, 0.31566372513771057, 0.5130191445350647, 0.02354559674859047, 0.9057343006134033, 1.09762704372406, 0.5329421758651733, 0.05636673793196678, 0.4763045907020569, 0.6418815851211548, 0.30702856183052063, 0.36525633931159973, 0.06706927716732025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-30.03716468811035, 2.3044583797454834, -14.639277458190918, -6.0236053466796875, 0.19368988275527954, 0.7143648266792297, 1.894256353378296, -0.0018297663191333413, -0.009730794467031956, 0.16071586310863495, 0.033537838608026505, 0.0011068381136283278, 0.05959221348166466, 0.04969296604394913, 0.007717696949839592, 0.019792590290308, 0.05832606181502342, 0.08045097440481186, -0.00038286796188913286, 0.01775480806827545, 0.006793526466935873, -0.1273888200521469, 5.801034603791777e-06, 0.0004442555655259639, -9.189386037178338e-05, 0.011215843260288239, -0.009085068479180336, 0.000655518495477736, 0.0013242970453575253, 27.215513229370117, 3.7963109016418457, 14.108809471130371, -6.81445837020874, -0.5318964123725891, 1.1262884140014648, -1.173967719078064, 0.06463303416967392, 0.42359915375709534, 0.14216257631778717, 0.038667500019073486, 0.03469711169600487, 0.3202667832374573, -0.17543770372867584, 0.12725479900836945, 0.030452778562903404, 0.007127921562641859, -0.0005665596690960228, 0.000755295914132148, -0.0003839248965959996, 0.005073554813861847, 0.09179281443357468, 0.0025628991425037384, -0.0008112327777780592, 0.11053640395402908, -0.00741089042276144, -0.09724774956703186, 0.000335299177095294, 6.132801354397088e-05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.1949784755706787, 1.705440640449524, 0.9867149591445923, 0.9886288046836853, 0.32254478335380554, 0.4224822521209717, 0.32050853967666626, 0.16305726766586304, 0.11131902784109116, 0.2860788404941559, 0.18906033039093018, 0.03082495555281639, 0.10814701020717621, 0.11732511967420578, 0.05683988705277443, 0.013634644448757172, 0.13687764108181, 0.1434607058763504, 0.00520104868337512, 0.013989060185849667, 0.15613389015197754, 0.22728799283504486, 9.796708764042705e-05, 0.0048913657665252686, 0.00820194836705923, 0.07743760198354721, 0.0761801153421402, 0.02052333764731884, 0.007066760212182999, 4.965854167938232, 2.9626145362854004, 2.1118359565734863, 2.7500476837158203, 0.28780078887939453, 0.6944756507873535, 0.6317471265792847, 0.3818158805370331, 0.7820780873298645, 0.3224005103111267, 0.2715689539909363, 0.07932256162166595, 0.5382022857666016, 0.3361346125602722, 0.22667454183101654, 0.05153447762131691, 0.07136987894773483, 0.05235220864415169, 0.029146287590265274, 0.005624508019536734, 0.10747742652893066, 0.20245231688022614, 0.023212848231196404, 0.008004991337656975, 0.1014438048005104, 0.09239063411951065, 0.18854951858520508, 0.020341724157333374, 0.004811872262507677, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1431]}, "observation.state.tcp": {"min": [0.3363240659236908, 0.14332115650177002, 1.0280810594558716, -1.208856463432312, 1.121217131614685, -1.5937297344207764, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2540227472782135, -0.34943291544914246, 0.9984291195869446, -0.23252421617507935, 1.0061817169189453, 0.1486373394727707, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.43229398131370544, 0.24183322489261627, 1.1329598426818848, -0.38165283203125, 1.3735724687576294, -1.228904128074646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4489615559577942, -0.09821353852748871, 1.244120717048645, 1.2086997032165527, 2.073936700820923, 1.5103257894515991, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3915465772151947, 0.16975556313991547, 1.0781584978103638, -0.5600613355636597, 1.2751349210739136, -1.3368488550186157, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3698904514312744, -0.20717796683311462, 1.1174025535583496, 0.38200676441192627, 1.5816174745559692, 0.8744933009147644, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.020524410530924797, 0.01885315030813217, 0.01798473671078682, 0.21900852024555206, 0.0380658395588398, 0.07784182578325272, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.060861214995384216, 0.06462986767292023, 0.07414133101701736, 0.4120315611362457, 0.26311662793159485, 0.37791708111763, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1431]}, "action": {"min": [0.7360535860061646, -0.8264064192771912, -2.0764281474277676e-17, 1.167616844177246, -0.8149397373199463, -0.7699999809265137, 0.31997793912887573, 0.0, -0.1912575364112854, -0.2613510191440582, -0.3490658402442932, 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, 0.2646157443523407, -1.2082583904266357, 0.0006921485182829201, 1.1198997497558594, -1.791812777519226, -0.7691698670387268, -0.4043155908584595, 0.0, -0.34753185510635376, -0.1619904786348343, -0.29192501306533813, 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, 0.5626833438873291, -1.1069231033325195, 0.4816145598888397, -0.011516156606376171, -0.024453282356262207, -0.08779279887676239, -0.7935364246368408], "max": [1.0499999523162842, -0.5636602640151978, 0.35377973318099976, 1.6055463552474976, 1.4108405969389394e-18, -0.35380274057388306, 0.5199999809265137, 1.273779273033142, 0.0, 0.47339707612991333, 0.0, 0.9831089973449707, 1.1684093475341797, 0.2204245924949646, 0.21594981849193573, 0.09226885437965393, 1.293130874633789, 0.20949500799179077, 0.013982086442410946, 0.15966808795928955, 1.1168876886367798, 0.1320287585258484, 0.0, 0.34675654768943787, 0.06901953369379044, 0.6901953220367432, 0.15570968389511108, 0.09060070663690567, 0.07765774428844452, 1.163604497909546, -0.349446177482605, 0.9108293652534485, 1.9517422914505005, -0.000866719288751483, 0.047348957508802414, 0.519054651260376, 1.3180732727050781, 0.0, 0.5815108418464661, 0.3490658402442932, 0.6546261310577393, 1.546304702758789, 0.12186639755964279, 0.11393605917692184, 0.5381973385810852, 1.5707963705062866, 0.22473901510238647, 1.7453292608261108, 1.3135669231414795, 1.5707963705062866, 0.2641429305076599, 1.7453292608261108, 0.9803574085235596, 0.1565331369638443, 1.5707963705062866, 0.19818204641342163, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.5442397594451904, 0.006347281858325005, 0.00023624248569831252, 0.05633937940001488, -0.5351331233978271], "mean": [0.9317982792854309, -0.6285438537597656, 0.21841469407081604, 1.281654715538025, -0.686211884021759, -0.45930421352386475, 0.4408394992351532, 1.2246203422546387, -0.15825147926807404, 0.3704812228679657, -0.33978554606437683, 0.852388858795166, 1.11611008644104, 0.19799701869487762, 0.1668429970741272, 0.0884455069899559, 1.2134454250335693, 0.17543746531009674, 0.000546695664525032, 0.14243121445178986, 1.0508549213409424, 0.08312302082777023, 0.0, 0.3325052261352539, 0.06371112912893295, 0.6371098756790161, 0.07873460650444031, 0.06919392943382263, 0.05932241305708885, 0.8851307034492493, -0.7309388518333435, 0.3998076021671295, 1.4581788778305054, -1.1796025037765503, -0.22662951052188873, -0.11517278850078583, 1.2355496883392334, -0.2430683970451355, 0.2613971531391144, -0.08804728835821152, 0.5908423066139221, 1.2510406970977783, 0.0769704133272171, 0.10110174864530563, 0.4437500238418579, 1.481101155281067, 0.17275750637054443, 1.4831665754318237, 1.1453542709350586, 1.403637170791626, 0.15922248363494873, 1.5804855823516846, 0.8599144816398621, 0.12673121690750122, 1.5050612688064575, 0.1303301304578781, 1.4391669034957886, 1.154420018196106, 0.5626831650733948, -1.1068512201309204, 0.4882771670818329, -0.0046954951249063015, -0.009486579336225986, -0.005413518752902746, -0.6635193228721619], "std": [0.06249174475669861, 0.07096835970878601, 0.04906446114182472, 0.11402469873428345, 0.1954447627067566, 0.048961371183395386, 0.024818552657961845, 0.17524540424346924, 0.02435559779405594, 0.16855980455875397, 0.0510888546705246, 0.1297704577445984, 0.1742413341999054, 0.03549284115433693, 0.06389075517654419, 0.013199073262512684, 0.2150193452835083, 0.028350967913866043, 0.00242437282577157, 0.03556719049811363, 0.17880627512931824, 0.016352100297808647, 0.0, 0.05065338313579559, 0.01002200972288847, 0.10022010654211044, 0.020731380209326744, 0.020956305786967278, 0.017963960766792297, 0.24651335179805756, 0.18833091855049133, 0.2243783324956894, 0.20237720012664795, 0.4040662944316864, 0.15873530507087708, 0.17135970294475555, 0.18097363412380219, 0.06237060949206352, 0.21256142854690552, 0.19099968671798706, 0.09086459875106812, 0.224136620759964, 0.025144187733530998, 0.01575164496898651, 0.08344290405511856, 0.2404882162809372, 0.027947990223765373, 0.49659162759780884, 0.22820986807346344, 0.3672868013381958, 0.03518691658973694, 0.37463170289993286, 0.17026770114898682, 0.03225623443722725, 0.2146080583333969, 0.027706081047654152, 0.6367882490158081, 0.5079055428504944, 1.799281363901173e-07, 1.4682469554827549e-05, 0.007758951745927334, 0.005089383106678724, 0.005778701044619083, 0.03598380088806152, 0.07306966185569763], "count": [1431]}, "observation.state.tcp_pose": {"min": [0.3363240659236908, 0.14332115650177002, 1.0280810594558716, -1.208856463432312, 1.121217131614685, -1.5937297344207764, 0.2540227472782135, -0.34943291544914246, 0.9984291195869446, -0.23252421617507935, 1.0061817169189453, 0.1486373394727707], "max": [0.43229398131370544, 0.24183322489261627, 1.1329598426818848, -0.38165283203125, 1.3735724687576294, -1.228904128074646, 0.4489615559577942, -0.09821353852748871, 1.244120717048645, 1.2086997032165527, 2.073936700820923, 1.5103257894515991], "mean": [0.3915465772151947, 0.16975556313991547, 1.0781584978103638, -0.5600613355636597, 1.2751349210739136, -1.3368488550186157, 0.3698904514312744, -0.20717796683311462, 1.1174025535583496, 0.38200676441192627, 1.5816174745559692, 0.8744933009147644], "std": [0.020524410530924797, 0.01885315030813217, 0.01798473671078682, 0.21900852024555206, 0.0380658395588398, 0.07784182578325272, 0.060861214995384216, 0.06462986767292023, 0.07414133101701736, 0.4120315611362457, 0.26311662793159485, 0.37791708111763], "count": [1431]}, "action.tcp_pose": {"min": [0.33674871921539307, 0.14349618554115295, 1.0280952453613281, -1.208855390548706, 1.111538290977478, -1.5935159921646118, 0.2532973885536194, -0.3509998619556427, 0.9985899329185486, -0.23085647821426392, 1.002975344657898, 0.14816588163375854], "max": [0.43287575244903564, 0.24287816882133484, 1.1326849460601807, -0.3818514049053192, 1.3739591836929321, -1.2289544343948364, 0.4488530457019806, -0.09798312932252884, 1.2472426891326904, 1.2084715366363525, 2.073857545852661, 1.505373239517212], "mean": [0.3915410339832306, 0.1697397083044052, 1.078147530555725, -0.5600396990776062, 1.2751820087432861, -1.3369168043136597, 0.3698410093784332, -0.2073964625597, 1.1175328493118286, 0.3823724687099457, 1.5815335512161255, 0.8741710186004639], "std": [0.020633000880479813, 0.0188904982060194, 0.018221555277705193, 0.21902388334274292, 0.03825043886899948, 0.07791316509246826, 0.061004023998975754, 0.0650935098528862, 0.07431919127702713, 0.4118751585483551, 0.26325663924217224, 0.3781275153160095], "count": [1431]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.40461215932914], "std": [6.8163863873811], "count": [1431]}, "observation.tactile": {"min": [-6.878807067871094, -0.00384521484375, 0.0, -0.11139392852783203, -0.027409076690673828, -0.1538240909576416, -0.17024803161621094, -0.002410888671875, -0.00299072265625, -0.1197042465209961, -0.015276908874511719, -0.0031468868255615234, -0.4989795684814453, -0.008575439453125, -0.00177001953125, -0.21459674835205078, -0.022798538208007812, -0.010549783706665039, -0.018337249755859375, -0.00738525390625, -0.00518798828125, -0.00039958953857421875, -0.000732421875, -0.0003368854522705078, -0.0033359527587890625, -0.0030364990234375, -0.00360107421875, -2.09808349609375e-05, -0.0012507438659667969, -0.0002772808074951172, -0.37912750244140625, -0.017578125, 0.0, -0.31621646881103516, -0.03275632858276367, -0.01065206527709961, -5.407451629638672, -0.006988525390625, -0.00653076171875, -0.1686849594116211, -0.015500545501708984, -0.11039090156555176, -0.022378921508789062, -0.006072998046875, -0.004638671875, -0.0004253387451171875, -0.0012054443359375, -0.0005710124969482422, -0.12762832641601562, -0.012298583984375, -0.017578125, -0.009394645690917969, -0.004974365234375, -0.004914999008178711, -0.015813827514648438, -0.007537841796875, -0.0054931640625, -0.0002346038818359375, -0.0008020401000976562, -0.0004706382751464844], "max": [0.48886871337890625, 5.52520751953125, 4.81597900390625, 0.000614166259765625, 0.0021452903747558594, 0.015052556991577148, 3.652139663696289, 5.6884765625, 8.42120361328125, 0.0017633438110351562, 0.005616188049316406, 0.06104874610900879, 5.866254806518555, 5.87371826171875, 14.041259765625, 0.0030431747436523438, 0.0061511993408203125, 0.10605788230895996, 0.0093841552734375, 0.0052032470703125, 0.0047607421875, 0.000568389892578125, 0.00011920928955078125, 0.0, 0.03184318542480469, 0.0179595947265625, 0.00482177734375, 0.0016937255859375, 9.679794311523438e-05, 0.0001468658447265625, 4.985130310058594, 15.5552978515625, 13.86846923828125, 0.005488395690917969, 0.012363910675048828, 0.10590982437133789, 0.3281440734863281, 7.8836669921875, 8.3021240234375, 0.007130622863769531, 0.023470401763916016, 0.0, 0.029760360717773438, 0.0169677734375, 0.08984375, 0.0013523101806640625, 0.00041413307189941406, 0.0004303455352783203, 1.2376060485839844, 0.278076171875, 0.37060546875, 0.0019197463989257812, 0.003284454345703125, 0.02299332618713379, 0.016016006469726562, 0.0096435546875, 0.0107421875, 0.000858306884765625, 0.0002741813659667969, 4.482269287109375e-05], "mean": [-1.795394778251648, 3.645198106765747, 2.708953619003296, -0.06147695705294609, -0.01352858915925026, -0.03709089010953903, 1.6268632411956787, 1.1469306945800781, 2.8721773624420166, -0.044358111917972565, -0.006037060171365738, 0.024198418483138084, 1.002298355102539, 0.5116174817085266, 2.209132432937622, -0.035533640533685684, -0.0034150381106883287, 0.017060834914445877, -0.003144198330119252, -0.0005600114236585796, -0.0007131857564672828, 4.0057653677649796e-05, -8.802360389381647e-05, -0.00014211297093424946, 0.00048642323235981166, 0.0009381329291500151, 0.0010211339686065912, 0.0004117074131499976, -0.00024269812274724245, -6.899343861732632e-05, 0.9447377920150757, 2.453721523284912, 2.6993017196655273, -0.06335659325122833, -0.002007384318858385, 0.01885445974767208, -1.1733726263046265, 1.3064892292022705, 1.6079912185668945, -0.030536267906427383, -0.0012450895737856627, -0.023679422214627266, 0.006849640980362892, -0.0009904031176120043, 8.730885019758716e-05, 0.0006408438202925026, -0.0005189597723074257, -0.0003245902480557561, 0.01032897550612688, 0.006161340977996588, -0.004806614480912685, 0.00041728682117536664, -0.0004185374127700925, -6.69986184220761e-05, -0.000835991813801229, -0.0006945254863239825, 0.0011119829723611474, 0.00019655554206110537, -9.01805397006683e-05, -0.00011355263995938003], "std": [1.0454152822494507, 1.7727441787719727, 1.3543157577514648, 0.03111211396753788, 0.007047311868518591, 0.0230543315410614, 0.9171128273010254, 0.7155488729476929, 1.4802857637405396, 0.022910188883543015, 0.003991867881268263, 0.013785259798169136, 0.7070428729057312, 0.5523999333381653, 1.5006169080734253, 0.024462345987558365, 0.0035496950149536133, 0.012832780368626118, 0.003868624335154891, 0.0017086268635466695, 0.001577448332682252, 0.000108295600512065, 7.4424096965231e-05, 5.548680201172829e-05, 0.0023746618535369635, 0.001451849122531712, 0.0010541508672758937, 0.0001657739921938628, 0.0001551605382701382, 5.088778198114596e-05, 1.4413542747497559, 3.8153414726257324, 3.900143623352051, 0.09268661588430405, 0.007196159567683935, 0.030453668907284737, 1.6066707372665405, 1.8636486530303955, 2.2505111694335938, 0.043683797121047974, 0.0028621782548725605, 0.03226124495267868, 0.0069078137166798115, 0.0016540787182748318, 0.0029130317270755768, 0.00029085276764817536, 0.00028749386547133327, 9.338690870208666e-05, 0.060018278658390045, 0.016096092760562897, 0.024329641833901405, 0.0005813660100102425, 0.0004287987540010363, 0.00095325184520334, 0.00450490927323699, 0.001235141302458942, 0.0021001913119107485, 0.0001614410284673795, 0.00013502134243026376, 5.708858952857554e-05], "count": [1431]}, "timestamp": {"min": [0.0], "max": [47.666666666666664], "mean": [23.833333333333332], "std": [13.769800558011267], "count": [1431]}, "frame_index": {"min": [0], "max": [1430], "mean": [715.0], "std": [413.094016740338], "count": [1431]}, "episode_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [1431]}, "index": {"min": [29953], "max": [31383], "mean": [30668.0], "std": [413.094016740338], "count": [1431]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1431]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3281064033508301]], [[0.32735636830329895]], [[0.32724881172180176]]], "std": [[[0.20266418159008026]], [[0.20269308984279633]], [[0.2026675045490265]]], "count": [1431]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30476880073547363]], [[0.3060837686061859]], [[0.30402854084968567]]], "std": [[[0.1711995154619217]], [[0.1731213927268982]], [[0.17214016616344452]]], "count": [1431]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3095394968986511]], [[0.3085585832595825]], [[0.30681565403938293]]], "std": [[[0.17429786920547485]], [[0.1750478893518448]], [[0.1735670119524002]]], "count": [1431]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3235795497894287]], [[0.32285425066947937]], [[0.32289919257164]]], "std": [[[0.2013522982597351]], [[0.20140746235847473]], [[0.2014201134443283]]], "count": [1431]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7490196228027344]], [[0.7490196228027344]], [[0.7490196228027344]]], "mean": [[[0.007597974967211485]], [[0.007597974967211485]], [[0.007597974967211485]]], "std": [[[0.05642542615532875]], [[0.05642542615532875]], [[0.05642542615532875]]], "count": [1431]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.95686274766922]], [[0.95686274766922]], [[0.95686274766922]]], "mean": [[[0.47408056259155273]], [[0.47408056259155273]], [[0.47408056259155273]]], "std": [[[0.15223832428455353]], [[0.15223832428455353]], [[0.15223832428455353]]], "count": [1431]}}}
+{"episode_index": 20, "stats": {"observation.state": {"min": [0.6987200975418091, -0.8310590982437134, 9.587379281583708e-07, 1.1526579856872559, -0.8230984210968018, -0.7699999809265137, 0.3525298833847046, 0.007689432706683874, -0.2027239203453064, -0.261037141084671, -0.3185407221317291, 0.0022365825716406107, 0.003177554812282324, -0.0001704934984445572, 0.003401321591809392, 0.0008473811321891844, 0.0035639244597405195, -0.0007111657178029418, 0.006776405498385429, 0.0008398429490625858, 0.0032172955106943846, 3.72879185306374e-05, 0.003070514416322112, 0.0008699956815689802, 0.005742419045418501, 0.003238147357478738, 0.00011799612548202276, 0.006368658505380154, 0.0008438337245024741, 0.47016093134880066, -1.1210517883300781, 0.0002960103447549045, 1.1375538110733032, -1.7572189569473267, -0.7697167992591858, -0.575138509273529, 0.005048657767474651, -0.32249850034713745, -0.18436002731323242, -0.30643779039382935, 0.006881356239318848, 0.003161609172821045, 8.291701669804752e-05, 0.0034839347936213017, 0.0010690925410017371, 0.003159401472657919, -0.00021268732962198555, 0.003370119957253337, 0.0013329292414709926, 0.0032585083972662687, -0.00023672819952480495, 0.003518681973218918, 0.0011187558993697166, 0.010571830905973911, 0.003295796224847436, -0.0002519377158023417, 0.006784206256270409, 0.0008447205764241517, 0.5620121955871582, -1.107150673866272, 0.47380831837654114, -0.014956312254071236, -0.02454369328916073, -0.10670753568410873, -0.7847270369529724], "max": [1.0500237941741943, -0.5587422251701355, 0.37881162762641907, 1.5700000524520874, -2.396844820395927e-07, -0.3430386185646057, 0.5536983609199524, 1.2601451873779297, -5.0589300371939316e-05, 0.5630539059638977, -0.00272154388949275, 0.9922374486923218, 1.2318207025527954, 0.2163771539926529, 0.1976269632577896, 0.09206656366586685, 1.3188284635543823, 0.22047442197799683, 0.006863628048449755, 0.17276731133460999, 1.0933328866958618, 0.13946060836315155, 0.04456004500389099, 0.3506951630115509, 0.06175268068909645, 0.7235132455825806, 0.21963103115558624, 0.10746162384748459, 0.09527339786291122, 1.2534253597259521, -0.3827989101409912, 0.7287845611572266, 1.8712862730026245, -0.0005397694767452776, 0.08452198654413223, 0.5195828080177307, 1.3262287378311157, 0.0012125236680731177, 0.5410188436508179, 0.3145662546157837, 0.6260070204734802, 1.465552806854248, 0.11623747646808624, 0.11187628656625748, 0.5263460874557495, 1.4667149782180786, 0.22967194020748138, 1.653370976448059, 1.2650474309921265, 1.4665793180465698, 0.2605530917644501, 1.6537150144577026, 0.9612645506858826, 0.13838106393814087, 1.4667069911956787, 0.19842851161956787, 1.6534777879714966, 1.3081103563308716, 0.563066840171814, -1.1066712141036987, 0.5441796779632568, 0.000862864195369184, 0.004314321093261242, 0.10546118021011353, -0.5111991167068481], "mean": [0.9305869340896606, -0.627971351146698, 0.24021756649017334, 1.260177493095398, -0.6769141554832458, -0.45980051159858704, 0.4554784297943115, 1.2127437591552734, -0.16117876768112183, 0.43762895464897156, -0.3072534203529358, 0.7891601920127869, 1.166323184967041, 0.19494913518428802, 0.10592136532068253, 0.0879751667380333, 1.236037015914917, 0.1715298593044281, 0.006805067881941795, 0.15068060159683228, 1.0294567346572876, 0.08600469678640366, 0.003580442862585187, 0.33490049839019775, 0.052076324820518494, 0.677707850933075, 0.09016335755586624, 0.08480755239725113, 0.0733058825135231, 0.9357355833053589, -0.7429229617118835, 0.3415706753730774, 1.4463880062103271, -1.0881208181381226, -0.20776714384555817, -0.14666315913200378, 1.2389732599258423, -0.24038740992546082, 0.2666328251361847, -0.11224893480539322, 0.5753498673439026, 1.218674659729004, 0.06885280460119247, 0.09958426654338837, 0.43867939710617065, 1.3993618488311768, 0.16846752166748047, 1.3571397066116333, 1.0677785873413086, 1.2987760305404663, 0.16385044157505035, 1.4596147537231445, 0.8377949595451355, 0.10680451989173889, 1.431288480758667, 0.12346070259809494, 1.3485918045043945, 1.0796709060668945, 0.5626847147941589, -1.1068520545959473, 0.48319756984710693, -0.008317302912473679, -0.007666044868528843, 0.0025784247554838657, -0.6629274487495422], "std": [0.07130832970142365, 0.06454700231552124, 0.050819240510463715, 0.11352860927581787, 0.1981041133403778, 0.05587226152420044, 0.024335788562893867, 0.17759886384010315, 0.023955106735229492, 0.1947169452905655, 0.04162028059363365, 0.11375806480646133, 0.18340972065925598, 0.03825225681066513, 0.04042816534638405, 0.012553991749882698, 0.21978189051151276, 0.026496442034840584, 1.0532740816415753e-05, 0.045749954879283905, 0.16698075830936432, 0.01939551904797554, 0.0038852388970553875, 0.052403774112463, 0.008411233313381672, 0.10155919939279556, 0.026143264025449753, 0.026736104860901833, 0.023997806012630463, 0.21276114881038666, 0.18063059449195862, 0.1605493426322937, 0.20715954899787903, 0.44753482937812805, 0.1641557365655899, 0.19373178482055664, 0.17453278601169586, 0.058799080550670624, 0.21209090948104858, 0.1557752788066864, 0.08142931014299393, 0.22287504374980927, 0.024352969601750374, 0.014963235706090927, 0.07984673231840134, 0.19880671799182892, 0.026856418699026108, 0.5736575126647949, 0.23146651685237885, 0.28534868359565735, 0.03460877016186714, 0.42278268933296204, 0.14952294528484344, 0.02782437577843666, 0.17763376235961914, 0.02637498639523983, 0.573539674282074, 0.4530165195465088, 5.9023208450526e-05, 3.381411079317331e-05, 0.008818400092422962, 0.005408904515206814, 0.007338681723922491, 0.04737113043665886, 0.08255332708358765], "count": [1416]}, "observation.state.joint_torque": {"min": [-56.503501892089844, -12.184499740600586, -29.243000030517578, -14.510000228881836, -0.35120001435279846, -1.6727999448776245, -0.2879999876022339, -1.5307799577713013, -0.9016574025154114, -0.8574557900428772, -0.8947364687919617, -0.3818588852882385, -0.515232264995575, -0.7080845832824707, -0.24405762553215027, -0.044950686395168304, -0.47877267003059387, -0.3837857246398926, -0.004980768077075481, -0.022118592634797096, -0.9114910364151001, -1.7941980361938477, -0.06308973580598831, -0.02925362065434456, -0.09587664157152176, -0.4547860622406006, -0.4874078333377838, -0.11787818372249603, -0.027113113552331924, 15.968999862670898, -7.563000202178955, 5.73799991607666, -12.343999862670898, -1.8320000171661377, -1.236799955368042, -3.304800033569336, -1.333383321762085, -0.835434079170227, -1.6378649473190308, -1.2451750040054321, -0.18428844213485718, -0.5526514053344727, -1.0544512271881104, -0.09131408482789993, -0.033534638583660126, -0.4970024824142456, -0.37035319209098816, -0.29552558064460754, -0.032821137458086014, -0.6927331686019897, -0.6380437016487122, -0.12119869887828827, -0.02925362065434456, -0.08224280178546906, -0.6562735438346863, -0.9191667437553406, -0.2673012316226959, -0.04066966846585274, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-1.246500015258789, 22.300500869750977, 3.86299991607666, 2.760999917984009, 1.843999981880188, 1.8847999572753906, 5.943999767303467, 1.9994381666183472, 2.147167205810547, 1.9211980104446411, 1.2339906692504883, 0.3552948236465454, 1.1369651556015015, 0.6514762043952942, 0.7056087851524353, 0.12629002332687378, 0.7435848116874695, 0.7435848116874695, 0.004980768077075481, 0.08990137279033661, 0.7838823199272156, 0.24754177033901215, 0.08135254681110382, 0.022118592634797096, 0.1587682068347931, 0.41352906823158264, 0.47493478655815125, 0.08965382725000381, 0.014983562752604485, 41.12099838256836, 22.530000686645508, 23.583999633789062, 4.991000175476074, 0.12639999389648438, 3.146399974822998, 0.4359999895095825, 1.1283453702926636, 4.485363960266113, 1.4340637922286987, 1.0190054178237915, 0.4432883560657501, 2.1396052837371826, 0.8308960199356079, 1.0592433214187622, 0.21405088901519775, 0.43655622005462646, 0.41352909803390503, 0.49973708391189575, 0.05351272225379944, 0.6745033860206604, 1.2751280069351196, 0.7554165124893188, 0.06706927716732025, 0.49169760942459106, 0.36843425035476685, 0.34732604026794434, 0.17266662418842316, 0.02354559674859047, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-30.394704818725586, 2.324113368988037, -14.617061614990234, -6.055697917938232, 0.18355870246887207, 0.7364024519920349, 1.848436951637268, 0.4480040371417999, 0.5468766093254089, 0.4407943785190582, 0.16258615255355835, 0.09881463646888733, 0.38231581449508667, -0.05859167501330376, 0.19241385161876678, 0.06013377755880356, 0.10507448017597198, 0.11005466431379318, -1.1724972637239262e-06, 0.0269009992480278, 0.10351181030273438, -0.31001442670822144, -0.0004783786425832659, -0.00026857067132368684, 0.004468832165002823, 0.012739332392811775, 0.003776195924729109, 0.0002321576321264729, 0.000482720963191241, 27.661657333374023, 3.9035398960113525, 14.600881576538086, -6.085262775421143, -0.5981671214103699, 1.0762650966644287, -1.1698230504989624, -0.04552681744098663, 0.5603141784667969, 0.13337141275405884, 0.11511549353599548, 0.045994628220796585, 0.3819258511066437, -0.05930441617965698, 0.19315391778945923, 0.0481075681746006, 0.0076919798739254475, -0.006340864580124617, 0.0003693380276672542, -7.054286834318191e-05, 0.009240263141691685, 0.15028153359889984, 0.0026005988474935293, 0.00010329694487154484, 0.16760578751564026, -0.008900811895728111, -0.11732569336891174, -0.004605568945407867, -0.001248630229383707, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.5700197219848633, 1.9338792562484741, 1.2427421808242798, 1.2710214853286743, 0.30627480149269104, 0.45207077264785767, 0.4601636230945587, 0.6322570443153381, 0.602405309677124, 0.5080868005752563, 0.29052454233169556, 0.08899164944887161, 0.2522335648536682, 0.23776912689208984, 0.15071715414524078, 0.031409330666065216, 0.17948850989341736, 0.1622494012117386, 0.0003024726174771786, 0.018030205741524696, 0.23029009997844696, 0.27606746554374695, 0.006705392152070999, 0.006870068144053221, 0.01642340049147606, 0.08315907418727875, 0.07612735033035278, 0.019024061039090157, 0.007014615926891565, 4.857174873352051, 3.1244685649871826, 1.7754462957382202, 2.2774882316589355, 0.3039635717868805, 0.730919361114502, 0.719374418258667, 0.33391380310058594, 1.0791038274765015, 0.3354508876800537, 0.2824240028858185, 0.09385716915130615, 0.5912775993347168, 0.2844077944755554, 0.3139553666114807, 0.07183541357517242, 0.08839239180088043, 0.07938633114099503, 0.03402702882885933, 0.006003711838275194, 0.153642937541008, 0.23577052354812622, 0.02941688895225525, 0.008286709897220135, 0.1548895537853241, 0.09773747622966766, 0.20270217955112457, 0.02870500646531582, 0.005343925207853317, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1416]}, "observation.state.tcp": {"min": [0.336124449968338, 0.1542842835187912, 1.0199109315872192, -1.2089017629623413, 1.0709606409072876, -1.614915132522583, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.26484689116477966, -0.3254309892654419, 0.9989615678787231, -0.24779798090457916, 1.1513959169387817, 0.14023691415786743, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4310191869735718, 0.24754942953586578, 1.1556168794631958, -0.34795811772346497, 1.3504232168197632, -1.2288838624954224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.44399136304855347, -0.0805613324046135, 1.2733579874038696, 1.208528757095337, 2.0975372791290283, 1.7300814390182495, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.39556095004081726, 0.17951737344264984, 1.0843236446380615, -0.5759396553039551, 1.2342690229415894, -1.3307932615280151, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.372141569852829, -0.20390364527702332, 1.1197375059127808, 0.42515507340431213, 1.634786605834961, 0.8729191422462463, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.022007247433066368, 0.015684477984905243, 0.023221367970108986, 0.220333069562912, 0.04592500999569893, 0.0994461327791214, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06163385510444641, 0.06450145691633224, 0.07702319324016571, 0.44766300916671753, 0.2538493275642395, 0.4412793815135956, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1416]}, "action": {"min": [0.6986814141273499, -0.8311426639556885, -1.069122752636724e-17, 1.151318073272705, -0.8230891227722168, -0.7699999809265137, 0.3525371849536896, 0.0, -0.2024746537208557, -0.26409295201301575, -0.3490658402442932, 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, 0.47017228603363037, -1.1214337348937988, 0.0003454108664300293, 1.1375120878219604, -1.7572017908096313, -0.7696542739868164, -0.5752055644989014, 0.0, -0.34753185510635376, -0.18624655902385712, -0.31388014554977417, 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, 0.5626833438873291, -1.1069231033325195, 0.4729815125465393, -0.015603768639266491, -0.02597787231206894, -0.10764557123184204, -0.7848957777023315], "max": [1.0499999523162842, -0.5587610602378845, 0.37880316376686096, 1.5700000524520874, -1.7578737797803287e-17, -0.34279242157936096, 0.5536911487579346, 1.2732999324798584, 0.0, 0.5716869235038757, 0.0, 0.9971356987953186, 1.2394641637802124, 0.2149600386619568, 0.2046450525522232, 0.09433980286121368, 1.328510046005249, 0.22023290395736694, 0.0, 0.1742217093706131, 1.099700689315796, 0.14334195852279663, 0.05026206374168396, 0.35382238030433655, 0.07324755191802979, 0.7324755191802979, 0.220136821269989, 0.11449243873357773, 0.09779126197099686, 1.253535509109497, -0.3827340602874756, 0.7289108633995056, 1.8714563846588135, -0.0006319612148217857, 0.08487261831760406, 0.519496500492096, 1.3286194801330566, 0.0, 0.5443118214607239, 0.3490658402442932, 0.6296031475067139, 1.550966739654541, 0.12071578949689865, 0.11677660793066025, 0.5311792492866516, 1.5707963705062866, 0.22876542806625366, 1.7453292608261108, 1.2674036026000977, 1.5707963705062866, 0.2597329020500183, 1.7453292608261108, 0.9632441997528076, 0.1572522073984146, 1.5707963705062866, 0.20374244451522827, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.5442397594451904, 0.0013047097017988563, 0.004978757817298174, 0.1069493293762207, -0.511201024055481], "mean": [0.9306560158729553, -0.6280306577682495, 0.2402081936597824, 1.2602055072784424, -0.6769508719444275, -0.4598329961299896, 0.45549696683883667, 1.218138575553894, -0.15832549333572388, 0.44462090730667114, -0.33988261222839355, 0.7949126362800598, 1.173401951789856, 0.19535128772258759, 0.11001364141702652, 0.09001894295215607, 1.2402957677841187, 0.17318584024906158, 0.0, 0.15334419906139374, 1.0340206623077393, 0.08257296681404114, 0.0005316075403243303, 0.33738642930984497, 0.06803832948207855, 0.6803832650184631, 0.09283626079559326, 0.0890255868434906, 0.07626312971115112, 0.9361018538475037, -0.7434835433959961, 0.3414093255996704, 1.4464945793151855, -1.0876734256744385, -0.20802593231201172, -0.14686547219753265, 1.2418553829193115, -0.24181883037090302, 0.26820099353790283, -0.11054633557796478, 0.5788094997406006, 1.2305209636688232, 0.06891931593418121, 0.10169311612844467, 0.4429967403411865, 1.4764078855514526, 0.16925828158855438, 1.4124343395233154, 1.0701161623001099, 1.365939736366272, 0.16478627920150757, 1.5346074104309082, 0.840049684047699, 0.1222781389951706, 1.5249918699264526, 0.12255930155515671, 1.4105051755905151, 1.1417430639266968, 0.5626831650733948, -1.1068518161773682, 0.4832558035850525, -0.008345402777194977, -0.007693364750593901, 0.0025773472152650356, -0.6630139350891113], "std": [0.07141274213790894, 0.0646459311246872, 0.05098593980073929, 0.11363112181425095, 0.19816899299621582, 0.05602748692035675, 0.024387134239077568, 0.19092074036598206, 0.025493821129202843, 0.19585998356342316, 0.05204858258366585, 0.12861253321170807, 0.1950221210718155, 0.039365604519844055, 0.04293761029839516, 0.01383258868008852, 0.2269097864627838, 0.030075062066316605, 0.0, 0.04578216373920441, 0.17585892975330353, 0.020442122593522072, 0.0045080059207975864, 0.054801151156425476, 0.010990661568939686, 0.10990659147500992, 0.028510332107543945, 0.028634557500481606, 0.02461642399430275, 0.21366658806800842, 0.18115773797035217, 0.16069799661636353, 0.20744074881076813, 0.447672039270401, 0.16432039439678192, 0.19390583038330078, 0.1870981752872467, 0.0685325339436531, 0.21270036697387695, 0.16247990727424622, 0.09178518503904343, 0.24089741706848145, 0.02474658191204071, 0.01628275029361248, 0.08424524962902069, 0.23940691351890564, 0.029741691425442696, 0.6023145914077759, 0.23568353056907654, 0.32959139347076416, 0.035867296159267426, 0.4580132067203522, 0.15491168200969696, 0.030046723783016205, 0.21160928905010223, 0.02864820323884487, 0.6071587204933167, 0.484100878238678, 1.7998868884205876e-07, 1.4325284610094968e-05, 0.009190832264721394, 0.005451527889817953, 0.007384282071143389, 0.04744642600417137, 0.08262147754430771], "count": [1416]}, "observation.state.tcp_pose": {"min": [0.336124449968338, 0.1542842835187912, 1.0199109315872192, -1.2089017629623413, 1.0709606409072876, -1.614915132522583, 0.26484689116477966, -0.3254309892654419, 0.9989615678787231, -0.24779798090457916, 1.1513959169387817, 0.14023691415786743], "max": [0.4310191869735718, 0.24754942953586578, 1.1556168794631958, -0.34795811772346497, 1.3504232168197632, -1.2288838624954224, 0.44399136304855347, -0.0805613324046135, 1.2733579874038696, 1.208528757095337, 2.0975372791290283, 1.7300814390182495], "mean": [0.39556095004081726, 0.17951737344264984, 1.0843236446380615, -0.5759396553039551, 1.2342690229415894, -1.3307932615280151, 0.372141569852829, -0.20390364527702332, 1.1197375059127808, 0.42515507340431213, 1.634786605834961, 0.8729191422462463], "std": [0.022007247433066368, 0.015684477984905243, 0.023221367970108986, 0.220333069562912, 0.04592500999569893, 0.0994461327791214, 0.06163385510444641, 0.06450145691633224, 0.07702319324016571, 0.44766300916671753, 0.2538493275642395, 0.4412793815135956], "count": [1416]}, "action.tcp_pose": {"min": [0.3360751271247864, 0.15415500104427338, 1.01976478099823, -1.208855390548706, 1.0693073272705078, -1.6157515048980713, 0.26475659012794495, -0.329988032579422, 0.9990054965019226, -0.24757832288742065, 1.152256965637207, 0.1344854086637497], "max": [0.4313599467277527, 0.24912314116954803, 1.1556147336959839, -0.3478042185306549, 1.3503729104995728, -1.2289544343948364, 0.4439627230167389, -0.08052936941385269, 1.2730580568313599, 1.2084994316101074, 2.0979416370391846, 1.74018132686615], "mean": [0.39558082818984985, 0.17953357100486755, 1.0843276977539062, -0.5758767127990723, 1.2342482805252075, -1.3307440280914307, 0.37210366129875183, -0.2041720598936081, 1.1199076175689697, 0.42558684945106506, 1.6346166133880615, 0.8722995519638062], "std": [0.022076306864619255, 0.015712406486272812, 0.02336117997765541, 0.22028979659080505, 0.04572094604372978, 0.09946753829717636, 0.061795007437467575, 0.06490691006183624, 0.07722292095422745, 0.4473584294319153, 0.25396406650543213, 0.442143976688385], "count": [1416]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.555084745762711], "std": [6.813584355717567], "count": [1416]}, "observation.tactile": {"min": [-9.164020538330078, -0.004852294921875, 0.0, -0.26302146911621094, -0.046797752380371094, -0.1750621795654297, -0.77105712890625, -0.0064697265625, -0.00567626953125, -0.21251583099365234, -0.014492511749267578, -0.016724348068237305, -0.031681060791015625, -0.009552001953125, -0.00616455078125, -0.2635774612426758, -0.0228424072265625, -0.00020742416381835938, -0.02159881591796875, -0.008819580078125, -0.00494384765625, -0.000171661376953125, -0.000484466552734375, -0.0004398822784423828, -0.008420944213867188, -0.0038909912109375, -0.0013427734375, -0.00016021728515625, -0.0013360977172851562, -0.0005872249603271484, -0.5524749755859375, -0.028411865234375, -0.00689697265625, -0.37674808502197266, -0.028867244720458984, -0.017400264739990234, -6.360774993896484, -0.00799560546875, -0.00018310546875, -0.3079824447631836, -0.020539283752441406, -0.1273651123046875, -0.03954315185546875, -0.00860595703125, -0.0111083984375, -0.0005130767822265625, -0.0014810562133789062, -0.0005340576171875, -0.10113525390625, -0.014434814453125, -0.01263427734375, -0.02103900909423828, -0.0011501312255859375, -0.002491474151611328, -0.019550323486328125, -0.003021240234375, -0.00445556640625, -0.0001678466796875, -0.000728607177734375, -0.00031113624572753906], "max": [0.024913787841796875, 12.318084716796875, 10.08917236328125, 0.0005903244018554688, 0.0002932548522949219, 0.0048770904541015625, 4.75970458984375, 6.680694580078125, 15.11651611328125, 0.0026025772094726562, 0.015902996063232422, 0.0760033130645752, 5.916622161865234, 8.63946533203125, 18.1824951171875, 0.0022420883178710938, 0.00345611572265625, 0.09934020042419434, 0.006893157958984375, 0.0059661865234375, 0.0059814453125, 0.0006256103515625, 0.00011587142944335938, 0.0, 0.010000228881835938, 0.0084381103515625, 0.02691650390625, 0.0013942718505859375, 0.00022983551025390625, 6.961822509765625e-05, 9.985122680664062, 19.266448974609375, 17.189208984375, 0.006617546081542969, 0.026308536529541016, 0.18799829483032227, 0.4317054748535156, 18.430572509765625, 18.23052978515625, 0.0035486221313476562, 0.006346702575683594, 0.0247650146484375, 0.02558135986328125, 0.0107574462890625, 0.00579833984375, 0.0017595291137695312, 0.00024366378784179688, 0.0, 0.70831298828125, 0.328399658203125, 1.23077392578125, 0.0008640289306640625, 0.006669044494628906, 0.012080669403076172, 0.00930023193359375, 0.01971435546875, 0.00799560546875, 0.0009899139404296875, 0.00016164779663085938, 3.910064697265625e-05], "mean": [-4.771025657653809, 7.003307819366455, 5.525392055511475, -0.1287100911140442, -0.02519948035478592, -0.09596522152423859, 1.49684476852417, 1.6648000478744507, 6.054902076721191, -0.08493068814277649, 0.0022977511398494244, 0.024294612929224968, 2.6870265007019043, 2.377544641494751, 5.622199535369873, -0.08738572895526886, -0.012575427070260048, 0.04688580706715584, -0.007050609681755304, -0.0007642756681889296, -0.00043336686212569475, 0.0001814702118281275, -0.0001318010181421414, -0.00021182336786296219, -0.00015487913333345205, 0.0012460374273359776, 0.0023919229861348867, 0.0002678976161405444, -0.0001652853679843247, -5.1795846957247704e-05, 1.9572440385818481, 3.274007558822632, 3.152183771133423, -0.07162825763225555, 0.0002810931473504752, 0.036707255989313126, -0.8268800973892212, 1.720942497253418, 2.488741159439087, -0.049038343131542206, -0.0022835254203528166, -0.016544708982110023, 0.0027763384860008955, -0.0014225911581888795, -0.0011413919273763895, 0.000501308764796704, -0.00041543765109963715, -0.0003059575392398983, 0.0020204882603138685, 0.0038189322222024202, -0.00044830236583948135, 0.0001966724230442196, -0.00026399167836643755, -0.00017460591334383935, -0.0011017443612217903, 0.0010298819979652762, 0.0009252257295884192, 0.00036382945836521685, -0.00018122774781659245, -8.119861740851775e-05], "std": [2.2760305404663086, 3.1732802391052246, 2.521024703979492, 0.05972528085112572, 0.012492377310991287, 0.04535193741321564, 0.7739351391792297, 0.9046778082847595, 2.858246088027954, 0.03926829993724823, 0.002778298920020461, 0.012837791815400124, 1.1804931163787842, 1.3558069467544556, 2.831376791000366, 0.043580152094364166, 0.005944323260337114, 0.020612722262740135, 0.005402134265750647, 0.0018592225387692451, 0.0015590937109664083, 0.00011532282223924994, 7.99504341557622e-05, 7.545600965386257e-05, 0.0014053469058126211, 0.0014189789071679115, 0.001392646343447268, 0.00015048916975501925, 0.00015472984523512423, 5.863676415174268e-05, 2.9782907962799072, 4.54022741317749, 4.3136091232299805, 0.10047140717506409, 0.008766859769821167, 0.055825330317020416, 1.4438074827194214, 2.6803410053253174, 3.4043686389923096, 0.0681966245174408, 0.004939889535307884, 0.02913798950612545, 0.009572011418640614, 0.002370761474594474, 0.0017287665978074074, 0.0002811533340718597, 0.00030934036476537585, 8.499320392729715e-05, 0.023230135440826416, 0.012922089546918869, 0.03826360031962395, 0.0006899121217429638, 0.0003547904489096254, 0.0004159823292866349, 0.0040105474181473255, 0.0012823736760765314, 0.0016276868991553783, 0.0001657275715842843, 0.00014396145706996322, 5.901475014979951e-05], "count": [1416]}, "timestamp": {"min": [0.0], "max": [47.166666666666664], "mean": [23.583333333333332], "std": [13.625462955097737], "count": [1416]}, "frame_index": {"min": [0], "max": [1415], "mean": [707.5], "std": [408.7638886529321], "count": [1416]}, "episode_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [1416]}, "index": {"min": [31384], "max": [32799], "mean": [32091.5], "std": [408.7638886529321], "count": [1416]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1416]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.32808199524879456]], [[0.3273163139820099]], [[0.32713666558265686]]], "std": [[[0.20198814570903778]], [[0.20200030505657196]], [[0.20197227597236633]]], "count": [1416]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3048918843269348]], [[0.30689921975135803]], [[0.305362731218338]]], "std": [[[0.17195537686347961]], [[0.17422650754451752]], [[0.17323090136051178]]], "count": [1416]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3089401423931122]], [[0.3078877925872803]], [[0.3063792586326599]]], "std": [[[0.17300397157669067]], [[0.1737188696861267]], [[0.17214295268058777]]], "count": [1416]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3229561448097229]], [[0.32221826910972595]], [[0.3221955895423889]]], "std": [[[0.20069769024848938]], [[0.2007262110710144]], [[0.20075032114982605]]], "count": [1416]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7450980544090271]], [[0.7450980544090271]], [[0.7450980544090271]]], "mean": [[[0.012583485804498196]], [[0.012583485804498196]], [[0.012583485804498196]]], "std": [[[0.0766778439283371]], [[0.0766778439283371]], [[0.0766778439283371]]], "count": [1416]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47314345836639404]], [[0.47314345836639404]], [[0.47314345836639404]]], "std": [[[0.15318463742733002]], [[0.15318463742733002]], [[0.15318463742733002]]], "count": [1416]}}}
+{"episode_index": 21, "stats": {"observation.state": {"min": [0.7855225205421448, -0.7967156171798706, 0.00031194937764666975, 1.1532628536224365, -0.887052059173584, -0.7694423794746399, 0.32847514748573303, 0.008629856631159782, -0.206594780087471, -0.2580873966217041, -0.31730523705482483, 0.0037232646718621254, 0.0032023314852267504, -9.052092354977503e-05, 0.0034385507460683584, 0.0008606838528066874, 0.0036941864527761936, -0.00047615484800189734, 0.0034942172933369875, 0.0008611272787675261, 0.0033836185466498137, 0.00016804016195237637, 0.003131144680082798, 0.0009906067280098796, 0.006064594257622957, 0.00325875380076468, 0.00014473538612946868, 0.006511901970952749, 0.0008509285398758948, 0.3442777395248413, -1.1016273498535156, 0.0006778277456760406, 1.202284336090088, -1.7229067087173462, -0.7691527009010315, -0.4497024118900299, 0.026226172223687172, -0.3220079839229584, -0.13621698319911957, -0.3164203464984894, 0.0087137371301651, 0.01242393720895052, 9.493755351286381e-05, 0.0034828712232410908, 0.00450074253603816, 0.02804652601480484, -0.0006562155322171748, 0.0033885573502629995, 0.006529845297336578, 0.013642657548189163, 0.0011316330637782812, 0.008954839780926704, 0.004871000535786152, 0.012266193516552448, 0.0313771590590477, 0.00017957034287974238, 0.006767896004021168, 0.000857136445119977, 0.5618204474449158, -1.107150673866272, 0.47812265157699585, -0.01131310872733593, -0.013038836419582367, -0.08935438096523285, -0.7794539928436279], "max": [1.0498813390731812, -0.5562536120414734, 0.3880910277366638, 1.569248914718628, -0.00034838143619708717, -0.33854392170906067, 0.5796874165534973, 1.2475700378417969, 0.0010719569399952888, 0.5050203800201416, -0.002389708301052451, 0.8876701593399048, 1.2000387907028198, 0.2147568315267563, 0.20815393328666687, 0.09204351156949997, 1.3162178993225098, 0.1946069896221161, 0.02240021899342537, 0.18250444531440735, 1.0791032314300537, 0.14735065400600433, 0.0031910657417029142, 0.3275773525238037, 0.05829973518848419, 0.7237789630889893, 0.19310863316059113, 0.09610816836357117, 0.08248907327651978, 1.186070442199707, -0.31096893548965454, 0.8243340253829956, 1.9117906093597412, -0.0010870890691876411, 0.1374281346797943, 0.5189976096153259, 1.3172708749771118, -0.0034543625079095364, 0.5905693769454956, 0.31441548466682434, 0.6491641998291016, 1.4545619487762451, 0.14632275700569153, 0.11013396829366684, 0.5126159191131592, 1.4648433923721313, 0.20665492117404938, 1.6533472537994385, 1.2433338165283203, 1.4668525457382202, 0.2591950595378876, 1.6562159061431885, 0.961228609085083, 0.13900615274906158, 1.4685697555541992, 0.2002548724412918, 1.6534404754638672, 1.3080989122390747, 0.5629709362983704, -1.106767177581787, 0.544083833694458, 0.0, 0.0024927188642323017, 0.05512743443250656, -0.5756263136863708], "mean": [0.9336093068122864, -0.6283422112464905, 0.2278212010860443, 1.2569020986557007, -0.6822051405906677, -0.4844512641429901, 0.4650430679321289, 1.205029010772705, -0.16779370605945587, 0.3939557373523712, -0.30798646807670593, 0.7950367331504822, 1.1396952867507935, 0.19286084175109863, 0.15976200997829437, 0.08747783303260803, 1.2376761436462402, 0.17055842280387878, 0.005151977296918631, 0.15966995060443878, 1.017743468284607, 0.0806431695818901, 0.0031641852110624313, 0.31305640935897827, 0.0538686104118824, 0.6770633459091187, 0.08234187960624695, 0.08103422820568085, 0.06975975632667542, 0.9025170207023621, -0.7360710501670837, 0.37022945284843445, 1.4655460119247437, -1.1813764572143555, -0.20198005437850952, -0.12719082832336426, 1.2363108396530151, -0.2383243888616562, 0.264255166053772, -0.11260967701673508, 0.5843683481216431, 1.2246206998825073, 0.07943476736545563, 0.10029814392328262, 0.46180275082588196, 1.411300539970398, 0.1730181723833084, 1.364761233329773, 1.0897183418273926, 1.3404128551483154, 0.1630391627550125, 1.4532737731933594, 0.8577539324760437, 0.11360154300928116, 1.4204158782958984, 0.13791045546531677, 1.372509479522705, 1.0946043729782104, 0.5626832842826843, -1.1068518161773682, 0.48337626457214355, -0.007573059760034084, -0.003992702811956406, 0.0011460580863058567, -0.6728452444076538], "std": [0.05673099309206009, 0.05425494909286499, 0.046564981341362, 0.09311652928590775, 0.17814567685127258, 0.05313499644398689, 0.03608185797929764, 0.1539653092622757, 0.021592877805233, 0.18594719469547272, 0.03675708919763565, 0.09554823487997055, 0.16172681748867035, 0.03714965656399727, 0.05731925368309021, 0.011073634028434753, 0.2117895781993866, 0.02259061112999916, 0.00452047074213624, 0.05130257457494736, 0.1561143547296524, 0.014940105378627777, 7.709068995609414e-06, 0.04782930016517639, 0.008607331663370132, 0.09158693999052048, 0.022890055552124977, 0.020774126052856445, 0.018683260306715965, 0.2230396866798401, 0.18851840496063232, 0.20415708422660828, 0.1934887021780014, 0.39161962270736694, 0.17212966084480286, 0.18470720946788788, 0.15181110799312592, 0.055732306092977524, 0.2358054667711258, 0.1870199590921402, 0.07277871668338776, 0.21454152464866638, 0.032536931335926056, 0.013360878452658653, 0.06008821725845337, 0.1747405081987381, 0.02159242331981659, 0.5563445091247559, 0.231284499168396, 0.2663874626159668, 0.02566584199666977, 0.4569363594055176, 0.14768525958061218, 0.02705499157309532, 0.1630103886127472, 0.026237891986966133, 0.5746748447418213, 0.45413175225257874, 6.596134335268289e-05, 3.445977927185595e-05, 0.00722359586507082, 0.0025964914821088314, 0.004510154947638512, 0.032756879925727844, 0.07497233152389526], "count": [1407]}, "observation.state.joint_torque": {"min": [-53.94300079345703, -14.687999725341797, -27.454999923706055, -14.017000198364258, -0.3303999900817871, -1.4495999813079834, 0.5440000295639038, -1.121977686882019, -0.515778660774231, -0.8537277579307556, -0.6648389101028442, -0.3984614610671997, -0.35116392374038696, -0.535381019115448, -0.2556794285774231, -0.04423718526959419, -0.5152323246002197, -0.33965033292770386, -0.033205125480890274, -0.02996712550520897, -0.6294085383415222, -1.3221416473388672, -0.0, -0.027113113552331924, -0.06948857009410858, -0.3454071283340454, -0.35404229164123535, -0.12617947161197662, -0.027113113552331924, 15.274499893188477, -19.297500610351562, 7.120999813079834, -18.72599983215332, -1.8215999603271484, -2.1375999450683594, -2.8784000873565674, -1.6479445695877075, -1.071036696434021, -0.7008769512176514, -1.3172509670257568, -0.11123716086149216, -0.5248269438743591, -1.3739527463912964, -0.08965382725000381, -0.015697065740823746, -0.4269615709781647, -0.35692068934440613, -0.7603973150253296, -0.022118592634797096, -0.4758942723274231, -0.5660839080810547, -0.20089100301265717, -0.04923170804977417, -0.07520598918199539, -0.7723686695098877, -1.0381402969360352, -0.3801986575126648, -0.08205283433198929, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-5.96999979019165, 22.750499725341797, 0.44999998807907104, 6.166999816894531, 1.708799958229065, 2.349600076675415, 5.22160005569458, 0.8418017029762268, 1.1245248317718506, 1.2899117469787598, 1.0028505325317383, 0.22413457930088043, 1.0745999813079834, 0.6793007254600525, 0.5263011455535889, 0.10488493740558624, 0.6092597842216492, 0.6284490823745728, 0.06807050108909607, 0.05708024278283119, 0.6495572924613953, 0.2177983820438385, 0.0016602561809122562, 0.01783757284283638, 0.08180300146341324, 0.38474515080451965, 0.2868798077106476, 0.08301279693841934, 0.019264578819274902, 43.381500244140625, 23.81100082397461, 22.825000762939453, 4.300000190734863, 0.052799999713897705, 2.902400016784668, 0.47119998931884766, 2.6451165676116943, 3.7301621437072754, 2.220686197280884, 1.3458328247070312, 0.6026729345321655, 2.0215911865234375, 0.6418815851211548, 1.0559228658676147, 0.21405088901519775, 0.42983999848365784, 0.26385265588760376, 0.6624422073364258, 0.028540121391415596, 0.48165106773376465, 0.7829228043556213, 0.5362627506256104, 0.028540121391415596, 0.49169760942459106, 0.33965033292770386, 0.2840014100074768, 0.5312820076942444, 0.09703640639781952, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-30.518396377563477, 2.2723469734191895, -14.57302188873291, -6.030059814453125, 0.21057163178920746, 0.7440863251686096, 1.8203527927398682, -0.03213871270418167, 0.03403947874903679, 0.21668747067451477, 0.057529348880052567, 0.032756686210632324, 0.1436319500207901, 0.046115558594465256, 0.10010156035423279, 0.04146834462881088, 0.03745342791080475, 0.05251960828900337, -0.0004979587392881513, 0.014320769347250462, -0.005679707508534193, -0.3233041763305664, 5.899986263102619e-06, 0.001369704958051443, 0.0010383937042206526, 0.014147096313536167, 0.005943634547293186, 0.00011328214168315753, -7.201044354587793e-05, 27.23566246032715, 3.820575475692749, 14.431415557861328, -6.5403289794921875, -0.5921428203582764, 1.1667174100875854, -1.1361366510391235, 0.1471463441848755, 0.6320803761482239, 0.2486579567193985, 0.12688151001930237, 0.06082528457045555, 0.3969374895095825, -0.19321298599243164, 0.19459927082061768, 0.04416016861796379, 0.010635260492563248, -0.009515541605651379, -0.0005156577681191266, 0.001597392838448286, -0.0037123917136341333, 0.06453981250524521, 0.0026361169293522835, 0.0014193960232660174, 0.1113026961684227, -0.018711257725954056, -0.08614099025726318, -0.003088051686063409, -0.0009026546613313258, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.3205113410949707, 1.9413201808929443, 1.126623272895813, 1.3343199491500854, 0.26151004433631897, 0.43146371841430664, 0.4502597451210022, 0.20921602845191956, 0.1605917364358902, 0.35408955812454224, 0.2063242644071579, 0.04732911288738251, 0.19226519763469696, 0.1544821560382843, 0.10584493726491928, 0.025652693584561348, 0.1343718022108078, 0.1270766258239746, 0.005833163857460022, 0.013014414347708225, 0.2183842808008194, 0.2437421828508377, 9.879594290396199e-05, 0.0052694217301905155, 0.007272731978446245, 0.0758836567401886, 0.061826251447200775, 0.016064399853348732, 0.006080754101276398, 4.590843677520752, 3.1121766567230225, 1.9072444438934326, 2.6570467948913574, 0.2699923813343048, 0.6553828716278076, 0.6871111989021301, 0.6159482598304749, 1.009080171585083, 0.4694453179836273, 0.2941817045211792, 0.10723214596509933, 0.5923478007316589, 0.3590379059314728, 0.2975560426712036, 0.06604187935590744, 0.06814276427030563, 0.05006866902112961, 0.03408564254641533, 0.006118886638432741, 0.11948312819004059, 0.15999937057495117, 0.02107623778283596, 0.008414315059781075, 0.10077233612537384, 0.10432280600070953, 0.1898169070482254, 0.032103098928928375, 0.006533127743750811, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1407]}, "observation.state.tcp": {"min": [0.3483124375343323, 0.15443845093250275, 1.0297585725784302, -1.20866858959198, 1.0252701044082642, -1.5668898820877075, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.26641830801963806, -0.3061922788619995, 1.0054891109466553, -0.2991935908794403, 1.011378288269043, 0.18663044273853302, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.42898738384246826, 0.2399957776069641, 1.146104335784912, -0.276616632938385, 1.3828774690628052, -1.229201316833496, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4323190450668335, -0.08129426091909409, 1.2472378015518188, 1.208451509475708, 2.091472625732422, 1.6794131994247437, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.39479365944862366, 0.1824868768453598, 1.0823947191238403, -0.5654792189598083, 1.2204792499542236, -1.3091243505477905, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.36809447407722473, -0.19835153222084045, 1.116422414779663, 0.34267324209213257, 1.621856927871704, 0.863950252532959, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.017826467752456665, 0.01500979345291853, 0.01909542642533779, 0.20032255351543427, 0.051725298166275024, 0.08666873723268509, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05773067846894264, 0.059235379099845886, 0.07478488981723785, 0.4068782925605774, 0.2836564779281616, 0.41217005252838135, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1407]}, "action": {"min": [0.7854293584823608, -0.7967090606689453, 3.2870917493710294e-05, 1.1519317626953125, -0.8870379328727722, -0.7699514627456665, 0.32848015427589417, 0.0, -0.20487171411514282, -0.25586700439453125, -0.3490658402442932, 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, 0.34428808093070984, -1.1025943756103516, 0.0024790833704173565, 1.2021894454956055, -1.7228784561157227, -0.7666918039321899, -0.44967415928840637, 0.0, -0.34705251455307007, -0.13792617619037628, -0.33650630712509155, 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, 0.5626833438873291, -1.1069231033325195, 0.47756776213645935, -0.01168324239552021, -0.013865791261196136, -0.08975020051002502, -0.7795612215995789], "max": [1.0499941110610962, -0.5562682747840881, 0.38809826970100403, 1.5699412822723389, -3.6490597267402336e-05, -0.33829396963119507, 0.5797385573387146, 1.2519199848175049, 0.0, 0.5095702409744263, 0.0, 0.8923070430755615, 1.2068864107131958, 0.21390527486801147, 0.21355432271957397, 0.09376459568738937, 1.326183795928955, 0.1943468451499939, 0.02705029584467411, 0.1837131828069687, 1.080501675605774, 0.14784806966781616, 0.0, 0.3315701186656952, 0.07321880012750626, 0.7321879863739014, 0.1997157335281372, 0.10066743940114975, 0.08605627715587616, 1.1860729455947876, -0.3108995258808136, 0.8244314193725586, 1.912251353263855, -0.003968922886997461, 0.13764619827270508, 0.5162377953529358, 1.320469856262207, 0.0, 0.5969464778900146, 0.3490658402442932, 0.6522293090820312, 1.544828176498413, 0.144972026348114, 0.1151808649301529, 0.5154173374176025, 1.5707963705062866, 0.2070220410823822, 1.7453292608261108, 1.2462635040283203, 1.5707963705062866, 0.26318424940109253, 1.7453292608261108, 0.9651138782501221, 0.1530529409646988, 1.5707963705062866, 0.20412582159042358, 1.7453292608261108, 1.3962633609771729, 0.5627791881561279, -1.106863021850586, 0.5442397594451904, 4.767339655163618e-19, 0.003487445879727602, 0.05530507490038872, -0.5754663944244385], "mean": [0.9336725473403931, -0.6284254789352417, 0.22784629464149475, 1.257013201713562, -0.6822569966316223, -0.48443499207496643, 0.4650334417819977, 1.2040923833847046, -0.16890937089920044, 0.4011811316013336, -0.3404883146286011, 0.7986201047897339, 1.1451386213302612, 0.19290857017040253, 0.16406786441802979, 0.08992470055818558, 1.2413249015808105, 0.1702696681022644, 0.0015266495756804943, 0.161634624004364, 1.0190523862838745, 0.07617390155792236, 0.0, 0.3150791525840759, 0.06823404878377914, 0.6823404431343079, 0.08379223942756653, 0.08499691635370255, 0.07286260277032852, 0.9037133455276489, -0.736641526222229, 0.36963823437690735, 1.4655548334121704, -1.1808114051818848, -0.20192785561084747, -0.12745274603366852, 1.2378156185150146, -0.23916739225387573, 0.26604312658309937, -0.11192254722118378, 0.5863734483718872, 1.2354087829589844, 0.07608570903539658, 0.10239344835281372, 0.4643552899360657, 1.4999524354934692, 0.17158788442611694, 1.4330400228500366, 1.0902689695358276, 1.4189413785934448, 0.1630464494228363, 1.5271697044372559, 0.8586645126342773, 0.12877321243286133, 1.5087209939956665, 0.13736724853515625, 1.4400851726531982, 1.1609927415847778, 0.5626837015151978, -1.1068516969680786, 0.48342517018318176, -0.007620231714099646, -0.004023076966404915, 0.0011714519932866096, -0.6728870272636414], "std": [0.05677942931652069, 0.054349374026060104, 0.04668620601296425, 0.0933736190199852, 0.17812445759773254, 0.05329298973083496, 0.03618638217449188, 0.17102891206741333, 0.025313755497336388, 0.18875660002231598, 0.04906854033470154, 0.11501684039831161, 0.17965638637542725, 0.03832824155688286, 0.06017277017235756, 0.0129912244156003, 0.2236214131116867, 0.025859367102384567, 0.00520715769380331, 0.05210496485233307, 0.16846498847007751, 0.016031738370656967, 0.0, 0.052137188613414764, 0.01043725572526455, 0.10437256097793579, 0.025323927402496338, 0.022525062784552574, 0.019305773079395294, 0.22295446693897247, 0.18895423412322998, 0.20407156646251678, 0.1937078833580017, 0.39163774251937866, 0.17216593027114868, 0.18460962176322937, 0.1716354489326477, 0.06625138968229294, 0.23613575100898743, 0.1943996101617813, 0.08684277534484863, 0.23685869574546814, 0.028827007859945297, 0.015389780513942242, 0.0695774257183075, 0.220840722322464, 0.02524433843791485, 0.5916610360145569, 0.2397235780954361, 0.3128710389137268, 0.028317483142018318, 0.49145904183387756, 0.15621551871299744, 0.03235394135117531, 0.2108805626630783, 0.02821100503206253, 0.6085178256034851, 0.48527711629867554, 6.448306066886289e-06, 1.3920470337325241e-05, 0.007635584566742182, 0.002614391501992941, 0.004556238651275635, 0.0328034870326519, 0.07503654807806015], "count": [1407]}, "observation.state.tcp_pose": {"min": [0.3483124375343323, 0.15443845093250275, 1.0297585725784302, -1.20866858959198, 1.0252701044082642, -1.5668898820877075, 0.26641830801963806, -0.3061922788619995, 1.0054891109466553, -0.2991935908794403, 1.011378288269043, 0.18663044273853302], "max": [0.42898738384246826, 0.2399957776069641, 1.146104335784912, -0.276616632938385, 1.3828774690628052, -1.229201316833496, 0.4323190450668335, -0.08129426091909409, 1.2472378015518188, 1.208451509475708, 2.091472625732422, 1.6794131994247437], "mean": [0.39479365944862366, 0.1824868768453598, 1.0823947191238403, -0.5654792189598083, 1.2204792499542236, -1.3091243505477905, 0.36809447407722473, -0.19835153222084045, 1.116422414779663, 0.34267324209213257, 1.621856927871704, 0.863950252532959], "std": [0.017826467752456665, 0.01500979345291853, 0.01909542642533779, 0.20032255351543427, 0.051725298166275024, 0.08666873723268509, 0.05773067846894264, 0.059235379099845886, 0.07478488981723785, 0.4068782925605774, 0.2836564779281616, 0.41217005252838135], "count": [1407]}, "action.tcp_pose": {"min": [0.34822171926498413, 0.1545746773481369, 1.0297620296478271, -1.208835244178772, 1.0247185230255127, -1.5667214393615723, 0.26648539304733276, -0.3067529499530792, 1.0051686763763428, -0.29935047030448914, 1.011589527130127, 0.18688254058361053], "max": [0.42911773920059204, 0.2405039519071579, 1.1462421417236328, -0.2761063277721405, 1.3826817274093628, -1.2289754152297974, 0.4325474202632904, -0.0807541161775589, 1.2466448545455933, 1.207227349281311, 2.0918262004852295, 1.688744306564331], "mean": [0.3948065936565399, 0.1824897825717926, 1.082417607307434, -0.5654003620147705, 1.220457911491394, -1.3092011213302612, 0.3681771159172058, -0.1985895037651062, 1.116783857345581, 0.3426772952079773, 1.6216838359832764, 0.8634389638900757], "std": [0.01793757826089859, 0.015024086460471153, 0.01919505186378956, 0.20019465684890747, 0.051857538521289825, 0.08668947964906693, 0.05780099332332611, 0.05960553139448166, 0.07487305253744125, 0.4067375659942627, 0.28357160091400146, 0.41269561648368835], "count": [1407]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.149253731343284], "std": [6.752643364404472], "count": [1407]}, "observation.tactile": {"min": [-8.351505279541016, -0.01031494140625, 0.0, -0.2537832260131836, -0.03635263442993164, -0.1620008945465088, -0.31772804260253906, -0.00323486328125, -0.00543212890625, -0.22557544708251953, -0.016614437103271484, -0.013072729110717773, -0.0499725341796875, -0.017242431640625, -0.0081787109375, -0.33977413177490234, -0.01836681365966797, -0.0003693103790283203, -0.01908111572265625, -0.0069580078125, -0.0054931640625, -0.0001277923583984375, -0.0004787445068359375, -0.0003654956817626953, -0.002105712890625, -0.000885009765625, -0.00360107421875, -1.1444091796875e-05, -0.0010056495666503906, -0.00031876564025878906, -0.17654037475585938, -0.024505615234375, -0.00128173828125, -0.42875194549560547, -0.027133464813232422, -0.007852792739868164, -8.961814880371094, -0.007598876953125, -0.00360107421875, -0.16163158416748047, -0.03163909912109375, -0.16763758659362793, -0.024143218994140625, -0.004669189453125, -0.0057373046875, -0.0001373291015625, -0.0013499259948730469, -0.0005199909210205078, -0.002574920654296875, -0.007110595703125, -0.0108642578125, -0.012703895568847656, -0.0035886764526367188, -0.0006322860717773438, -0.015110015869140625, -0.005218505859375, -0.00921630859375, -0.000255584716796875, -0.0011210441589355469, -0.0004429817199707031], "max": [0.013057708740234375, 8.43560791015625, 10.1290283203125, 0.00086212158203125, 0.002406597137451172, 0.00018024444580078125, 5.630758285522461, 5.66510009765625, 12.92913818359375, 0.00060272216796875, 0.014627933502197266, 0.10695290565490723, 8.760604858398438, 10.943939208984375, 20.556884765625, 0.0020647048950195312, 0.04123401641845703, 0.1466233730316162, 0.006938934326171875, 0.0062255859375, 0.00433349609375, 0.0005645751953125, 6.151199340820312e-05, 0.0, 0.01029205322265625, 0.00909423828125, 0.0035400390625, 0.00109100341796875, 8.106231689453125e-05, 0.0, 9.46969985961914, 23.906585693359375, 18.29736328125, 0.0020723342895507812, 0.05317354202270508, 0.19287657737731934, 1.0118179321289062, 12.2347412109375, 10.55963134765625, 0.0014247894287109375, 0.007884979248046875, 0.02120518684387207, 0.027080535888671875, 0.012115478515625, 0.036712646484375, 0.0016632080078125, 0.0005908012390136719, 0.00032711029052734375, 1.562408447265625, 0.793060302734375, 0.6370849609375, 0.001434326171875, 0.007287025451660156, 0.021926403045654297, 0.011425018310546875, 0.004730224609375, 0.024169921875, 0.0012722015380859375, 0.0003414154052734375, 0.00023245811462402344], "mean": [-2.4412267208099365, 4.20243501663208, 3.149846076965332, -0.07745173573493958, -0.0118497833609581, -0.053611401468515396, 1.5388338565826416, 1.2531307935714722, 4.040454864501953, -0.06921400874853134, -0.002735570538789034, 0.026621118187904358, 1.237983226776123, 0.7673999071121216, 2.162796974182129, -0.03997906669974327, -0.0022707809694111347, 0.02214830182492733, -0.0038751820102334023, -5.4430605814559385e-05, -0.0008302429923787713, 0.0001979372464120388, -0.00012503706966526806, -0.00012546629295684397, 0.001883047865703702, 0.004006977658718824, -6.593705620616674e-06, 0.0005434656050056219, -0.00046101308544166386, -0.00016394827980548143, 1.7514277696609497, 3.5791022777557373, 3.8156566619873047, -0.09003356844186783, -0.0022162667009979486, 0.036154042929410934, -1.3102947473526, 1.7452600002288818, 2.070648670196533, -0.03803215175867081, -0.0027754849288612604, -0.024177270010113716, 0.006407940294593573, 0.0011893829796463251, 0.00013280677376314998, 0.0009027425548993051, -0.0007047720719128847, -0.0002627855574246496, 0.02182064577937126, 0.0031485268846154213, 0.0024014536757022142, 0.0006339860265143216, -0.0005711250123567879, -0.00017594409291632473, 0.000712909153662622, -0.00036462757270783186, -0.0014143931912258267, 0.0003417617699597031, -0.00023577343381475657, -0.00015796984371263534], "std": [1.4087468385696411, 1.984504222869873, 1.5852173566818237, 0.03988722339272499, 0.00654710503295064, 0.030394192785024643, 0.9093279242515564, 0.7051551938056946, 1.940474510192871, 0.03338940814137459, 0.004740486387163401, 0.017023172229528427, 1.1531462669372559, 1.2119721174240112, 2.2812418937683105, 0.039443764835596085, 0.005320331547409296, 0.01983540505170822, 0.004037237260490656, 0.001817534095607698, 0.0014106039889156818, 0.00010153016046388075, 6.680346268694848e-05, 6.130534166004509e-05, 0.0012922607129439712, 0.0013682462740689516, 0.0011063769925385714, 0.00013488616968970746, 0.00013039847544860095, 4.8485260776942596e-05, 2.3845441341400146, 5.28434419631958, 5.2931671142578125, 0.12525314092636108, 0.010131086222827435, 0.04859723150730133, 2.1773033142089844, 2.415865421295166, 2.716344118118286, 0.04846036806702614, 0.004987489432096481, 0.04112890362739563, 0.006904799956828356, 0.0014268489321693778, 0.0022197174839675426, 0.0003459871222730726, 0.00031255625071935356, 0.00010919116903096437, 0.07893186807632446, 0.03408825397491455, 0.04330043867230415, 0.0009591212146915495, 0.0005673266714438796, 0.0012363898567855358, 0.004294762387871742, 0.0010962163796648383, 0.002112485934048891, 0.00023581413552165031, 0.00022512831492349505, 8.214435365516692e-05], "count": [1407]}, "timestamp": {"min": [0.0], "max": [46.86666666666667], "mean": [23.43333333333333], "std": [13.538860392985104], "count": [1407]}, "frame_index": {"min": [0], "max": [1406], "mean": [703.0], "std": [406.16581178955306], "count": [1407]}, "episode_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [1407]}, "index": {"min": [32800], "max": [34206], "mean": [33503.0], "std": [406.16581178955306], "count": [1407]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1407]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3303506374359131]], [[0.32961195707321167]], [[0.3294765055179596]]], "std": [[[0.20455609261989594]], [[0.20455899834632874]], [[0.2044963836669922]]], "count": [1407]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3051367700099945]], [[0.3071827292442322]], [[0.3055877685546875]]], "std": [[[0.1723436564207077]], [[0.17459161579608917]], [[0.1736515611410141]]], "count": [1407]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30921775102615356]], [[0.3081175982952118]], [[0.3066197335720062]]], "std": [[[0.17382203042507172]], [[0.1744937300682068]], [[0.1731404960155487]]], "count": [1407]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3259357810020447]], [[0.3252224922180176]], [[0.32525262236595154]]], "std": [[[0.20328421890735626]], [[0.20330221951007843]], [[0.20328465104103088]]], "count": [1407]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7843137383460999]], [[0.7843137383460999]], [[0.7843137383460999]]], "mean": [[[0.009426399134099483]], [[0.009426399134099483]], [[0.009426399134099483]]], "std": [[[0.06603129208087921]], [[0.06603129208087921]], [[0.06603129208087921]]], "count": [1407]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.95686274766922]], [[0.95686274766922]], [[0.95686274766922]]], "mean": [[[0.4738249182701111]], [[0.4738249182701111]], [[0.4738249182701111]]], "std": [[[0.15237802267074585]], [[0.15237802267074585]], [[0.15237802267074585]]], "count": [1407]}}}
+{"episode_index": 22, "stats": {"observation.state": {"min": [0.740608811378479, -0.7950466871261597, 0.00013458284956868738, 1.136458158493042, -0.8111147880554199, -0.7698023319244385, 0.33824634552001953, 0.007674075663089752, -0.2078871726989746, -0.19077704846858978, -0.31713154911994934, 0.0025195239577442408, 0.003152287332341075, -0.015278127044439316, 0.0033991942182183266, 0.0008309744880534708, 0.003914724104106426, -0.000672896858304739, 0.003496344666928053, 0.0008597970008850098, 0.003238147357478738, 5.642229371005669e-05, 0.00306271412409842, 0.0008886194555088878, 0.006133096758276224, 0.00324869598262012, 7.383953925454989e-05, 0.0028769231867045164, 0.0008535890956409276, 0.31447258591651917, -1.03559148311615, 0.0014419419458135962, 1.1853424310684204, -1.8267003297805786, -0.7678622603416443, -0.4785870313644409, 0.008775844238698483, -0.3198252320289612, -0.11612538993358612, -0.3156454861164093, 0.006830299273133278, 0.0063838111236691475, -1.9379815057618544e-05, 0.003497053636237979, 0.0018175904406234622, 0.013436103239655495, -0.0002676383010111749, 0.003383238799870014, 0.0027319283690303564, 0.009677644819021225, -0.0004665873711928725, 0.004930551163852215, 0.0030365600250661373, 0.005369937978684902, 0.015559542924165726, 0.0004580019449349493, 0.006779596675187349, 0.0008558061672374606, 0.5619163513183594, -1.107150673866272, 0.47457531094551086, -0.01859951764345169, -0.008724515326321125, -0.08609466999769211, -0.7779200077056885], "max": [1.066314458847046, -0.5423679351806641, 0.3991832733154297, 1.5697606801986694, -0.00016142750973813236, -0.3418140709400177, 0.5336800813674927, 1.2433878183364868, 0.00012123419583076611, 0.47461196780204773, -0.0024633863940835, 0.9177952408790588, 1.2434883117675781, 0.21441315114498138, 0.20506392419338226, 0.08814404904842377, 1.3042138814926147, 0.2133561074733734, 0.01877729594707489, 0.1896386593580246, 1.1042490005493164, 0.16267715394496918, 0.014204852283000946, 0.34606674313545227, 0.05873643606901169, 0.7610804438591003, 0.21954567730426788, 0.19060413539409637, 0.1656264215707779, 1.1505894660949707, -0.43708786368370056, 0.7819934487342834, 1.9051963090896606, -0.0024028371553868055, 0.030235478654503822, 0.5175434350967407, 1.3170167207717896, -0.0004383220511954278, 0.5807271599769592, 0.31287509202957153, 0.6304773092269897, 1.4644057750701904, 0.12151661515235901, 0.11027827113866806, 0.503312885761261, 1.466745138168335, 0.2007742077112198, 1.6533514261245728, 1.2803610563278198, 1.4667820930480957, 0.22988730669021606, 1.6537141799926758, 0.9612575173377991, 0.13814987242221832, 1.467173457145691, 0.18259073793888092, 1.6533944606781006, 1.3081095218658447, 0.5629709362983704, -1.1065753698349, 0.5439879298210144, 0.0, 0.006711165886372328, 0.0668240413069725, -0.558368980884552], "mean": [0.9104571342468262, -0.6076179146766663, 0.2335355430841446, 1.2449411153793335, -0.6849427819252014, -0.47826895117759705, 0.5025702714920044, 1.203738808631897, -0.16063429415225983, 0.3683454096317291, -0.30751311779022217, 0.840495228767395, 1.1748802661895752, 0.18578273057937622, 0.032341551035642624, 0.08460867404937744, 1.2260509729385376, 0.1647718846797943, 0.004181573633104563, 0.1650886833667755, 1.0426472425460815, 0.08154167979955673, 0.0031640012748539448, 0.3301350474357605, 0.055478375405073166, 0.6901606321334839, 0.10060745477676392, 0.1557401716709137, 0.1329098343849182, 0.8923735022544861, -0.7378443479537964, 0.38020363450050354, 1.4554047584533691, -1.1443984508514404, -0.2491677850484848, -0.10980959981679916, 1.2339543104171753, -0.2542358934879303, 0.2620428800582886, -0.0894927904009819, 0.583365797996521, 1.2341400384902954, 0.06626953929662704, 0.09925027936697006, 0.45948827266693115, 1.4120897054672241, 0.15676908195018768, 1.3194234371185303, 1.1147305965423584, 1.3360350131988525, 0.14556492865085602, 1.4395253658294678, 0.8550441265106201, 0.11169911921024323, 1.4157750606536865, 0.10960458219051361, 1.3650864362716675, 1.0906440019607544, 0.562684178352356, -1.1068503856658936, 0.48056018352508545, -0.013456247746944427, 0.0005380602087825537, -0.0033341541420668364, -0.6754950881004333], "std": [0.056719571352005005, 0.06256363540887833, 0.04543663188815117, 0.10518733412027359, 0.18008877336978912, 0.04812655597925186, 0.03222581371665001, 0.15381668508052826, 0.02170404978096485, 0.16654686629772186, 0.038792721927165985, 0.10619808733463287, 0.17891527712345123, 0.040196653455495834, 0.03569978103041649, 0.011073481291532516, 0.20833814144134521, 0.02431190013885498, 0.0026434387546032667, 0.05422232300043106, 0.16459469497203827, 0.01949317567050457, 0.0004554181359708309, 0.048362914472818375, 0.008880207315087318, 0.1000254899263382, 0.031527187675237656, 0.05797852575778961, 0.049336027354002, 0.22804009914398193, 0.16415278613567352, 0.1821971833705902, 0.19619733095169067, 0.44585269689559937, 0.1650475412607193, 0.18575572967529297, 0.15437179803848267, 0.052702032029628754, 0.2232857048511505, 0.17178364098072052, 0.07567965239286423, 0.21189238131046295, 0.02440827526152134, 0.013560207560658455, 0.061782106757164, 0.17613334953784943, 0.023068184033036232, 0.5625261068344116, 0.23497405648231506, 0.27002042531967163, 0.028954708948731422, 0.4703975021839142, 0.15002602338790894, 0.028621453791856766, 0.16919764876365662, 0.026080965995788574, 0.5858410000801086, 0.4639427959918976, 6.856040272396058e-05, 4.877885658061132e-05, 0.008382090367376804, 0.004836729262024164, 0.003720443695783615, 0.03656185418367386, 0.06927484273910522], "count": [1400]}, "observation.state.joint_torque": {"min": [-40.87350082397461, -12.106499671936035, -20.236000061035156, -14.505000114440918, -0.29120001196861267, -1.5983999967575073, 0.9007999897003174, -1.095233678817749, -0.6112931966781616, -0.88230961561203, -0.704604983329773, -0.3868396580219269, -0.2983933687210083, -0.5008403062820435, -0.26232045888900757, -0.04352368041872978, -0.4519076645374298, -0.3195015788078308, -0.0531281977891922, -0.019264578819274902, -0.6044624447822571, -0.7378280162811279, -0.04150639846920967, -0.02925362065434456, -0.05365573614835739, -0.33485302329063416, -0.4096912145614624, -0.12285894900560379, -0.026399608701467514, 16.489500045776367, -14.798999786376953, 8.86299991607666, -15.293000221252441, -1.7488000392913818, -1.4256000518798828, -2.6640000343322754, -1.4454537630081177, -0.9080250859260559, -0.704604983329773, -0.7431283593177795, -0.14278201758861542, -0.5641649961471558, -1.1254515647888184, -0.09629485011100769, -0.020691584795713425, -0.4116101562976837, -0.43655624985694885, -0.24571789801120758, -0.03710215538740158, -0.5718406438827515, -0.5948678255081177, -0.7006280422210693, -0.022118592634797096, -0.05585474148392677, -0.47685369849205017, -0.9690588712692261, -0.5279614329338074, -0.10773894935846329, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.649999618530273, 12.861000061035156, -9.567000389099121, 0.34299999475479126, 1.8960000276565552, 1.5232000350952148, 4.351200103759766, 1.4467272758483887, 0.537428617477417, 1.2961252927780151, 0.8959792256355286, 0.2556794285774231, 0.857761025428772, 0.4567050039768219, 0.2756025195121765, 0.04066966846585274, 0.6821790337562561, 0.5900704860687256, 0.03984614461660385, 0.04423718526959419, 0.6265301704406738, 0.14296017587184906, 0.06474998593330383, 0.0321076326072216, 0.08180300146341324, 0.4471103250980377, 0.37323158979415894, 0.0979551151394844, 0.019978083670139313, 42.109500885009766, 15.845999717712402, 22.343000411987305, 2.9119999408721924, 0.014399999752640724, 2.958400011062622, 0.5496000051498413, 1.8275121450424194, 3.2513158321380615, 1.6813589334487915, 1.384356141090393, 0.47151273488998413, 2.138645648956299, 0.9047748446464539, 1.0559228658676147, 0.21405088901519775, 0.7042467594146729, 0.30702853202819824, 0.45324990153312683, 0.04709119349718094, 0.7301522493362427, 1.3739527463912964, 0.2042115032672882, 0.04066966846585274, 0.49125784635543823, 0.815544605255127, 0.32813677191734314, 0.2739422619342804, 0.0699232965707779, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-30.24376106262207, 1.9279940128326416, -14.339937210083008, -6.2608537673950195, 0.20239144563674927, 0.7218263745307922, 1.8070697784423828, -0.0047439164482057095, -0.007938622497022152, 0.2324557900428772, 0.021928152069449425, -0.002242532093077898, 0.03248688578605652, 0.030123697593808174, -8.319958396896254e-06, 0.009283177554607391, 0.042322032153606415, 0.06799465417861938, -0.0009937806753441691, 0.011519494466483593, 0.00840571615844965, -0.08770160377025604, -0.00071509531699121, -0.00031903773196972907, 0.00037257440271787345, 0.036404866725206375, 0.030129915103316307, 5.218476144364104e-05, 0.0008093155338428915, 27.572784423828125, 4.221842288970947, 14.605486869812012, -6.373321533203125, -0.6288586258888245, 1.167460560798645, -1.1832658052444458, 0.08548099547624588, 0.48593631386756897, 0.19224314391613007, 0.13725772500038147, 0.054503850638866425, 0.39296069741249084, -0.13266654312610626, 0.17100758850574493, 0.04604284092783928, 0.009766693226993084, -0.004116792231798172, 0.002888851100578904, 0.0006258405046537519, -0.024701399728655815, 0.13881061971187592, 0.0012902553426101804, 0.0007899497868493199, 0.20764489471912384, 0.02894837222993374, -0.11858433485031128, -0.0009036532719619572, -0.00022475208970718086, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.9643946886062622, 1.7264666557312012, 0.9099024534225464, 1.144826054573059, 0.2798686921596527, 0.4150245487689972, 0.38153335452079773, 0.1600113958120346, 0.08632967621088028, 0.3173406422138214, 0.17355948686599731, 0.02650154009461403, 0.08893831819295883, 0.09226041287183762, 0.05549964681267738, 0.009157824330031872, 0.13362988829612732, 0.12577712535858154, 0.006449439097195864, 0.010538939386606216, 0.14597252011299133, 0.14763343334197998, 0.004342505242675543, 0.007883691228926182, 0.006890967488288879, 0.08503281325101852, 0.07827267795801163, 0.01893775723874569, 0.006867993623018265, 4.621763229370117, 3.1358389854431152, 1.5705018043518066, 2.2481496334075928, 0.27303871512413025, 0.6291669011116028, 0.6687344908714294, 0.45173269510269165, 0.8426833748817444, 0.3988306224346161, 0.3448309004306793, 0.09629464894533157, 0.5935202240943909, 0.37230783700942993, 0.26142165064811707, 0.06855694949626923, 0.07597435265779495, 0.08312395960092545, 0.03518139198422432, 0.0063214427791535854, 0.13355667889118195, 0.26661568880081177, 0.02433370053768158, 0.007784285582602024, 0.17192137241363525, 0.10753560811281204, 0.17645227909088135, 0.026225496083498, 0.0063310726545751095, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1400]}, "observation.state.tcp": {"min": [0.34273862838745117, 0.15814270079135895, 1.0214356184005737, -1.2084171772003174, 1.0253245830535889, -1.6031759977340698, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.263128399848938, -0.29987087845802307, 0.9946314692497253, -0.38453036546707153, 1.0403310060501099, 0.16244354844093323, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4358629286289215, 0.23407989740371704, 1.1502676010131836, -0.35723915696144104, 1.3327406644821167, -1.2294408082962036, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4327605068683624, -0.07988981157541275, 1.2553597688674927, 1.2081350088119507, 2.0334062576293945, 1.5960617065429688, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3891601860523224, 0.17692814767360687, 1.0732008218765259, -0.5594795942306519, 1.206217885017395, -1.343299388885498, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3704083263874054, -0.199856236577034, 1.1201090812683105, 0.384499728679657, 1.5794039964675903, 0.8778987526893616, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.017380988225340843, 0.014729966409504414, 0.021422261372208595, 0.1994476616382599, 0.0398961640894413, 0.07421136647462845, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05807151272892952, 0.06098208948969841, 0.0751524493098259, 0.42368847131729126, 0.26125216484069824, 0.38366982340812683, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1400]}, "action": {"min": [0.7402529120445251, -0.7954195737838745, -9.0971743853612e-18, 1.136265754699707, -0.8111047148704529, -0.7699999809265137, 0.338604599237442, 0.0, -0.20841890573501587, -0.19607041776180267, -0.3490658402442932, 0.0, 0.0, -0.01715046912431717, 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, 0.3132340908050537, -1.0359034538269043, 0.003725962247699499, 1.1853251457214355, -1.8267114162445068, -0.7659587264060974, -0.4786783456802368, 0.0, -0.34695667028427124, -0.1205730065703392, -0.31311315298080444, 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, 0.5626834034919739, -1.1069231033325195, 0.473978191614151, -0.019179649651050568, -0.009814810007810593, -0.08669331669807434, -0.7783525586128235], "max": [1.0664013624191284, -0.5423663854598999, 0.39932048320770264, 1.5700000524520874, -7.80994238588578e-18, -0.341411828994751, 0.5337644219398499, 1.2472221851348877, 0.0, 0.48383772373199463, 0.0, 0.922574520111084, 1.2506895065307617, 0.21812385320663452, 0.22123174369335175, 0.09134860336780548, 1.3114619255065918, 0.21371358633041382, 0.02361461892724037, 0.1924666464328766, 1.1146458387374878, 0.16098278760910034, 0.021369481459259987, 0.34823283553123474, 0.07672779262065887, 0.7672779560089111, 0.21869874000549316, 0.19636864960193634, 0.1680859476327896, 1.1506565809249878, -0.437023401260376, 0.7822175025939941, 1.9054920673370361, -0.006381213665008545, 0.030304253101348877, 0.5150583386421204, 1.3221955299377441, 0.0, 0.5850582122802734, 0.3490658402442932, 0.6376566886901855, 1.535603404045105, 0.120524100959301, 0.1157335564494133, 0.5067890286445618, 1.5707963705062866, 0.20307153463363647, 1.7453292608261108, 1.2825038433074951, 1.5707963705062866, 0.23116248846054077, 1.7453292608261108, 0.9665515422821045, 0.1544143259525299, 1.5707963705062866, 0.18638938665390015, 1.7453292608261108, 1.3962633609771729, 0.5627791881561279, -1.1067674160003662, 0.5442397594451904, -5.669045621992493e-19, 0.007467228453606367, 0.06799507141113281, -0.5553593039512634], "mean": [0.910646378993988, -0.6076409220695496, 0.23351484537124634, 1.2449731826782227, -0.6848631501197815, -0.47827985882759094, 0.5025837421417236, 1.2008506059646606, -0.16328980028629303, 0.3743435740470886, -0.3402496874332428, 0.8405223488807678, 1.174949049949646, 0.1868857443332672, 0.03287956118583679, 0.08757837861776352, 1.2290058135986328, 0.16847315430641174, 0.000715579662937671, 0.16826416552066803, 1.041625738143921, 0.08069106936454773, 3.6134668334852904e-05, 0.3321858048439026, 0.06946857273578644, 0.6946859955787659, 0.1018780916929245, 0.15769925713539124, 0.13517673313617706, 0.8928743004798889, -0.7382136583328247, 0.3796003460884094, 1.455507516860962, -1.1430555582046509, -0.24984019994735718, -0.10948958247900009, 1.2345874309539795, -0.25385111570358276, 0.2633184492588043, -0.088715098798275, 0.585366427898407, 1.2432411909103394, 0.06526284664869308, 0.1017562747001648, 0.4624066948890686, 1.500133752822876, 0.15659694373607635, 1.3706644773483276, 1.1155744791030884, 1.4122430086135864, 0.1450088769197464, 1.5147820711135864, 0.8561520576477051, 0.12727682292461395, 1.5046488046646118, 0.1094796434044838, 1.4318294525146484, 1.155584692955017, 0.5627840757369995, -1.106851577758789, 0.4806050658226013, -0.013503387570381165, 0.0005422755493782461, -0.0033268039114773273, -0.6755378842353821], "std": [0.05715931951999664, 0.06261499971151352, 0.045497700572013855, 0.10541343688964844, 0.1803283989429474, 0.048243582248687744, 0.03223826736211777, 0.17357616126537323, 0.025319192558526993, 0.16841037571430206, 0.05069855600595474, 0.12514673173427582, 0.19328837096691132, 0.04164087399840355, 0.03675736486911774, 0.013050020672380924, 0.2204216718673706, 0.02837059088051319, 0.0034547271206974983, 0.05533922463655472, 0.1761966347694397, 0.020756099373102188, 0.0007952337618917227, 0.05314463749527931, 0.011206023395061493, 0.11206019669771194, 0.03353959321975708, 0.05796525254845619, 0.04968595504760742, 0.2287009358406067, 0.16445320844650269, 0.18236012756824493, 0.19639216363430023, 0.44621142745018005, 0.16539573669433594, 0.1859435737133026, 0.1753607541322708, 0.05997417867183685, 0.22353488206863403, 0.17677797377109528, 0.08930511027574539, 0.23464548587799072, 0.02391466125845909, 0.015746481716632843, 0.07164585590362549, 0.22418871521949768, 0.026505550369620323, 0.5929847359657288, 0.2434806078672409, 0.31717249751091003, 0.03149469196796417, 0.5052077770233154, 0.1590285450220108, 0.032431382685899734, 0.21679958701133728, 0.028541384264826775, 0.617973268032074, 0.49392789602279663, 1.3571453564509284e-05, 1.4749330148333684e-05, 0.008778735995292664, 0.004854971542954445, 0.0037747386377304792, 0.036635544151067734, 0.06935323029756546], "count": [1400]}, "observation.state.tcp_pose": {"min": [0.34273862838745117, 0.15814270079135895, 1.0214356184005737, -1.2084171772003174, 1.0253245830535889, -1.6031759977340698, 0.263128399848938, -0.29987087845802307, 0.9946314692497253, -0.38453036546707153, 1.0403310060501099, 0.16244354844093323], "max": [0.4358629286289215, 0.23407989740371704, 1.1502676010131836, -0.35723915696144104, 1.3327406644821167, -1.2294408082962036, 0.4327605068683624, -0.07988981157541275, 1.2553597688674927, 1.2081350088119507, 2.0334062576293945, 1.5960617065429688], "mean": [0.3891601860523224, 0.17692814767360687, 1.0732008218765259, -0.5594795942306519, 1.206217885017395, -1.343299388885498, 0.3704083263874054, -0.199856236577034, 1.1201090812683105, 0.384499728679657, 1.5794039964675903, 0.8778987526893616], "std": [0.017380988225340843, 0.014729966409504414, 0.021422261372208595, 0.1994476616382599, 0.0398961640894413, 0.07421136647462845, 0.05807151272892952, 0.06098208948969841, 0.0751524493098259, 0.42368847131729126, 0.26125216484069824, 0.38366982340812683], "count": [1400]}, "action.tcp_pose": {"min": [0.34238091111183167, 0.158040389418602, 1.0211862325668335, -1.208855390548706, 1.023301124572754, -1.6036230325698853, 0.26313596963882446, -0.2995082139968872, 0.9946500658988953, -0.38452738523483276, 1.028517246246338, 0.16214509308338165], "max": [0.4362754821777344, 0.2344454824924469, 1.1511924266815186, -0.35746321082115173, 1.3320980072021484, -1.2289544343948364, 0.4330369532108307, -0.08004960417747498, 1.2550379037857056, 1.2055829763412476, 2.0334160327911377, 1.6089835166931152], "mean": [0.38926026225090027, 0.17694012820720673, 1.073219895362854, -0.5595418810844421, 1.2061461210250854, -1.343380093574524, 0.3704831898212433, -0.1999809890985489, 1.1201531887054443, 0.3853992223739624, 1.5791414976119995, 0.8782433867454529], "std": [0.01757548190653324, 0.014763539656996727, 0.021772710606455803, 0.19950778782367706, 0.04030812159180641, 0.07427527755498886, 0.05825401842594147, 0.061157483607530594, 0.07513538002967834, 0.42399200797080994, 0.2613731622695923, 0.38403192162513733], "count": [1400]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.593571428571428], "std": [6.899779610499844], "count": [1400]}, "observation.tactile": {"min": [-7.1754608154296875, -0.003875732421875, -0.0010986328125, -0.13155078887939453, -0.01604318618774414, -0.15761423110961914, -0.25736236572265625, -0.002227783203125, -0.00341796875, -0.07532024383544922, -0.008858680725097656, -0.005991220474243164, -0.057727813720703125, -0.013763427734375, -0.0059814453125, -0.24084949493408203, -0.014956951141357422, -0.003584146499633789, -0.013561248779296875, -0.008697509765625, -0.00567626953125, -0.00033092498779296875, -0.0005488395690917969, -0.0004322528839111328, -0.0013980865478515625, -0.0050506591796875, -0.00433349609375, 0.0, -0.0010142326354980469, -0.0003464221954345703, -0.03847503662109375, -0.02203369140625, 0.0, -0.3618593215942383, -0.034226417541503906, -0.008161306381225586, -6.024845123291016, -0.01275634765625, -0.01165771484375, -0.18490123748779297, -0.029924392700195312, -0.09817957878112793, -0.019687652587890625, -0.0050048828125, -0.00439453125, -0.00042438507080078125, -0.0012288093566894531, -0.0005195140838623047, -0.00531005859375, -0.005340576171875, -0.0201416015625, -0.0032339096069335938, -0.0015354156494140625, -0.0005333423614501953, -0.017644882202148438, -0.008270263671875, -0.00677490234375, -0.00029468536376953125, -0.0011014938354492188, -0.00047469139099121094], "max": [1.2298126220703125, 4.548736572265625, 5.886474609375, 0.000370025634765625, 0.0020079612731933594, 0.02626943588256836, 3.4372177124023438, 2.881561279296875, 5.5731201171875, 0.0020647048950195312, 0.006270408630371094, 0.046582937240600586, 7.264263153076172, 6.697998046875, 15.65106201171875, 0.0024747848510742188, 0.005314350128173828, 0.1260068416595459, 0.01004791259765625, 0.003631591796875, 0.0048828125, 0.000637054443359375, 0.0002665519714355469, 0.0, 0.014631271362304688, 0.0045166015625, 0.0028076171875, 0.001316070556640625, 6.67572021484375e-06, 0.0, 6.399299621582031, 20.125732421875, 15.03253173828125, 0.0008411407470703125, 0.015959739685058594, 0.11878418922424316, 1.2232017517089844, 8.242279052734375, 7.734130859375, 0.001438140869140625, 0.0076503753662109375, 0.02381443977355957, 0.024257659912109375, 0.0166168212890625, 0.039276123046875, 0.0013408660888671875, 0.0006833076477050781, 0.00012493133544921875, 0.513458251953125, 0.119903564453125, 0.16400146484375, 0.000965118408203125, 0.0012960433959960938, 0.006769895553588867, 0.013589859008789062, 0.0097503662109375, 0.0072021484375, 0.0011348724365234375, 0.00015783309936523438, 6.9141387939453125e-06], "mean": [-1.3820316791534424, 2.925891876220703, 2.3370933532714844, -0.05577526614069939, -0.01041383296251297, -0.028222784399986267, 1.5566542148590088, 0.8861330151557922, 2.270395517349243, -0.02841167524456978, -0.0033738554921001196, 0.021543195471167564, 1.0465701818466187, 0.6191886067390442, 1.9163154363632202, -0.032620206475257874, -0.002238226355984807, 0.01781906746327877, -0.002215806394815445, -0.0032660674769431353, -0.0007322910823859274, 5.2230698202038184e-05, 4.706450999947265e-05, -0.00016939332999754697, 0.00418307026848197, 0.0003443908644840121, -0.0011165945325046778, 0.0006586210802197456, -0.0005693466519005597, -0.00020731329277623445, 1.6812001466751099, 2.813593864440918, 3.1048269271850586, -0.07356306165456772, -0.00087457470363006, 0.032589104026556015, -1.103190302848816, 1.5463242530822754, 1.9136945009231567, -0.03805339336395264, -0.002120968420058489, -0.02185693196952343, 0.004026121459901333, 0.0006373160285875201, 0.0014421953819692135, 0.00045386244892142713, -0.0003980074543505907, -0.0002112427755491808, 0.0073924255557358265, 0.0018867601174861193, 0.00246429443359375, 0.0003150769625790417, -0.00038866791874170303, -0.00021494226530194283, 0.0035771410912275314, -0.0003318459785077721, -0.0011983816511929035, 0.00033187048393301666, -0.0002882191038224846, -0.00016639335080981255], "std": [0.9119112491607666, 1.5028326511383057, 1.2470123767852783, 0.03003169596195221, 0.006054737605154514, 0.02048012800514698, 0.9593468308448792, 0.4641028046607971, 1.1895477771759033, 0.01578070968389511, 0.0029141304548829794, 0.013401055708527565, 0.9210178256034851, 0.7596437335014343, 1.7636348009109497, 0.028302546590566635, 0.0034693898633122444, 0.016391398385167122, 0.003923290409147739, 0.001815109746530652, 0.0015175454318523407, 0.00012395225348882377, 8.766804239712656e-05, 5.788604903500527e-05, 0.001964456168934703, 0.0012958245351910591, 0.0011414331384003162, 0.00015203053771983832, 0.00015022065781522542, 5.224939013714902e-05, 2.0122768878936768, 3.9691901206970215, 4.088491439819336, 0.09795914590358734, 0.005326524842530489, 0.038302287459373474, 1.6502718925476074, 2.045720100402832, 2.406888484954834, 0.05006691813468933, 0.004225420765578747, 0.03300795704126358, 0.0056909178383648396, 0.0017502863192930818, 0.00230566319078207, 0.0003255413321312517, 0.0003339036484248936, 0.00011425789125496522, 0.01597624458372593, 0.007007050793617964, 0.008632672019302845, 0.0002992174122482538, 0.00026738777523860335, 0.000249740231083706, 0.0029994002543389797, 0.0009743699338287115, 0.001862273900769651, 0.0002467968442942947, 0.00024199344625230879, 9.751100151333958e-05], "count": [1400]}, "timestamp": {"min": [0.0], "max": [46.63333333333333], "mean": [23.316666666666666], "std": [13.471502844482083], "count": [1400]}, "frame_index": {"min": [0], "max": [1399], "mean": [699.5], "std": [404.1450853344625], "count": [1400]}, "episode_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [1400]}, "index": {"min": [34207], "max": [35606], "mean": [34906.5], "std": [404.1450853344625], "count": [1400]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1400]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.330267995595932]], [[0.3295099139213562]], [[0.3294540345668793]]], "std": [[[0.2042514830827713]], [[0.20425371825695038]], [[0.2042590081691742]]], "count": [1400]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30417540669441223]], [[0.3057214021682739]], [[0.3037426173686981]]], "std": [[[0.17072059214115143]], [[0.17288054525852203]], [[0.17220677435398102]]], "count": [1400]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3092120289802551]], [[0.3080998361110687]], [[0.3063410520553589]]], "std": [[[0.174072265625]], [[0.17472240328788757]], [[0.17315079271793365]]], "count": [1400]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3258667588233948]], [[0.3251376152038574]], [[0.32524654269218445]]], "std": [[[0.20252983272075653]], [[0.20254620909690857]], [[0.20260024070739746]]], "count": [1400]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.772549033164978]], [[0.772549033164978]], [[0.772549033164978]]], "mean": [[[0.0068528912961483]], [[0.0068528912961483]], [[0.0068528912961483]]], "std": [[[0.054751571267843246]], [[0.054751571267843246]], [[0.054751571267843246]]], "count": [1400]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.9529411792755127]], [[0.9529411792755127]], [[0.9529411792755127]]], "mean": [[[0.47371363639831543]], [[0.47371363639831543]], [[0.47371363639831543]]], "std": [[[0.15206019580364227]], [[0.15206019580364227]], [[0.15206019580364227]]], "count": [1400]}}}
+{"episode_index": 23, "stats": {"observation.state": {"min": [0.7605330348014832, -0.8216522336006165, 0.0002504703006707132, 1.1080933809280396, -0.7376803159713745, -0.7695391178131104, 0.38985535502433777, 0.007671365514397621, -0.1934935301542282, -0.17837637662887573, -0.3169955611228943, 0.0026787223760038614, 0.0031871218234300613, -0.0003392697835806757, 0.0034144404344260693, 0.0008274271385744214, 0.0035693214740604162, -0.00043813115917146206, 0.003650224767625332, 0.0008433902985416353, 0.003278378862887621, 3.63142135029193e-05, 0.003134690225124359, 0.0009045827318914235, 0.00625511584803462, 0.0032462426461279392, 7.408497913274914e-05, 0.0028914602007716894, 0.0008673351258039474, 0.2707429528236389, -1.0733658075332642, 0.001131430733948946, 1.1025166511535645, -1.7924036979675293, -0.7688485383987427, -0.4442748725414276, 0.032776977866888046, -0.3196461498737335, -0.11434973031282425, -0.3145689070224762, 0.0068856109865009785, 0.01194753684103489, -0.0017915292410179973, 0.0034906715154647827, 0.002348810900002718, 0.026177722960710526, 0.0008230298990383744, 0.0033935212995857, 0.005480263847857714, 0.013800394721329212, -0.00021097005810588598, 0.01012879703193903, 0.005095372907817364, 0.010593238286674023, 0.039263516664505005, 0.0004172788467258215, 0.0032084393315017223, 0.0008624575566500425, 0.5618204474449158, -1.107150673866272, 0.470644474029541, -0.02310558594763279, -0.01179247722029686, -0.12444419413805008, -0.7935474514961243], "max": [1.0498942136764526, -0.5099353194236755, 0.38695818185806274, 1.5693299770355225, -0.0002190716186305508, -0.3182500898838043, 0.6303285956382751, 1.219652771949768, -6.323681736830622e-05, 0.47458845376968384, -0.002465659286826849, 0.9729552268981934, 1.226885437965393, 0.21463319659233093, 0.1556626707315445, 0.09226078540086746, 1.3149969577789307, 0.19113531708717346, 0.003716882551088929, 0.1404905617237091, 1.1274129152297974, 0.1360895037651062, 0.0031878745649009943, 0.3437764346599579, 0.052439577877521515, 0.759248673915863, 0.20895761251449585, 0.15383455157279968, 0.13342151045799255, 1.2451987266540527, -0.38932737708091736, 0.8121317028999329, 1.9008371829986572, -0.001760362763889134, 0.06728567183017731, 0.5184915065765381, 1.3278007507324219, -0.002679260680451989, 0.5435458421707153, 0.313932329416275, 0.6222063899040222, 1.4666391611099243, 0.1466900259256363, 0.10912062227725983, 0.48016226291656494, 1.4666800498962402, 0.22046314179897308, 1.6389282941818237, 1.187800407409668, 1.466789960861206, 0.2559610605239868, 1.6536985635757446, 0.9381400346755981, 0.139505997300148, 1.4668762683868408, 0.19962142407894135, 1.6534770727157593, 1.3080865144729614, 0.5629709362983704, -1.1065753698349, 0.544083833694458, 0.0, 0.0036432044580578804, 0.059537630528211594, -0.5226081013679504], "mean": [0.914746105670929, -0.5789658427238464, 0.22169817984104156, 1.212180495262146, -0.6266142129898071, -0.4528578221797943, 0.5448417067527771, 1.1716591119766235, -0.15518617630004883, 0.3856608271598816, -0.3086537718772888, 0.8603814840316772, 1.1634784936904907, 0.17931310832500458, 0.09539864212274551, 0.08683712035417557, 1.2246811389923096, 0.16332684457302094, 0.003685378236696124, 0.11807192116975784, 1.0427814722061157, 0.08014924824237823, 0.0031610485166311264, 0.32067784667015076, 0.0483805388212204, 0.7003936171531677, 0.10288672149181366, 0.09044692665338516, 0.07478801161050797, 0.8926581740379333, -0.7041975855827332, 0.3941028118133545, 1.4227583408355713, -1.175105094909668, -0.21415013074874878, -0.14148163795471191, 1.2435308694839478, -0.24915996193885803, 0.2520873248577118, -0.08265406638383865, 0.5731525421142578, 1.230311632156372, 0.08219178766012192, 0.09814082086086273, 0.41667184233665466, 1.4137303829193115, 0.16497477889060974, 1.2234811782836914, 1.0590484142303467, 1.331944227218628, 0.15941831469535828, 1.473585844039917, 0.8248260021209717, 0.10780943930149078, 1.4214730262756348, 0.12457263469696045, 1.4113138914108276, 1.1187379360198975, 0.5626828670501709, -1.1067816019058228, 0.478447824716568, -0.015734903514385223, -0.003134704427793622, -0.018492262810468674, -0.6800318956375122], "std": [0.0531521700322628, 0.07297216355800629, 0.044226597994565964, 0.10998047143220901, 0.15386474132537842, 0.049951329827308655, 0.0358443483710289, 0.1397562474012375, 0.0197414793074131, 0.16718147695064545, 0.03638462349772453, 0.10403212904930115, 0.16209207475185394, 0.04095648229122162, 0.03861430287361145, 0.01092368084937334, 0.19875845313072205, 0.025239912793040276, 1.0862002454814501e-05, 0.03847471997141838, 0.15686437487602234, 0.02227158471941948, 8.073949175013695e-06, 0.049491036683321, 0.006804049015045166, 0.09697079658508301, 0.03705955296754837, 0.03794064000248909, 0.03111816756427288, 0.28357595205307007, 0.16206908226013184, 0.20799647271633148, 0.22462289035320282, 0.3995172679424286, 0.1564304381608963, 0.17295977473258972, 0.14359742403030396, 0.056248988956213, 0.23298430442810059, 0.18885545432567596, 0.07220597565174103, 0.2162613719701767, 0.0327485166490078, 0.013080754317343235, 0.0741906389594078, 0.16983792185783386, 0.02467416413128376, 0.48906081914901733, 0.1917421519756317, 0.26427161693573, 0.029629629105329514, 0.42901310324668884, 0.13137082755565643, 0.024884415790438652, 0.15934711694717407, 0.026126479730010033, 0.5621947646141052, 0.4425836205482483, 6.719355587847531e-05, 4.363005791674368e-05, 0.00840004999190569, 0.005764479283243418, 0.00399364810436964, 0.04659809172153473, 0.06984315067529678], "count": [1537]}, "observation.state.joint_torque": {"min": [-46.952999114990234, -14.758500099182129, -25.215999603271484, -15.336999893188477, -0.37599998712539673, -2.113600015640259, 1.0176000595092773, -0.9895308613777161, -0.672422468662262, -1.1221487522125244, -0.8562131524085999, -0.3901601731777191, -0.5862326622009277, -0.477813184261322, -0.23409610986709595, -0.046377696096897125, -0.4375156760215759, -0.3463665843009949, -0.0016602561809122562, -0.020691584795713425, -0.5229080319404602, -0.6936926245689392, -0.0, -0.027826614677906036, -0.07388658821582794, -0.3722721338272095, -0.5171512365341187, -0.11289741843938828, -0.027826614677906036, 15.352499961853027, -20.253000259399414, 5.580999851226807, -17.634000778198242, -1.8287999629974365, -2.1296000480651855, -2.624799966812134, -1.5167713165283203, -0.8838280439376831, -0.6051898002624512, -0.9108914732933044, -0.16104483604431152, -0.5584082007408142, -1.3163849115371704, -0.09629485011100769, -0.02925362065434456, -0.7128819227218628, -0.428880512714386, -0.41838452219963074, -0.03139413148164749, -0.6083003282546997, -0.5008403062820435, -0.2639807164669037, -0.0321076326072216, -0.0835622102022171, -0.9527480006217957, -0.955626368522644, -0.4167242646217346, -0.0827663391828537, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-12.807000160217285, 15.487500190734863, -2.9040000438690186, -0.5210000276565552, 1.676800012588501, 1.4952000379562378, 4.0696001052856445, 0.9284015893936157, 0.9602397680282593, 1.4614028930664062, 0.9593563675880432, 0.24571789801120758, 0.9479506611824036, 0.7762065529823303, 0.3818588852882385, 0.1212955042719841, 0.6342058777809143, 0.6255706548690796, 0.0016602561809122562, 0.04138316959142685, 0.5411378741264343, 0.23314979672431946, 0.0016602561809122562, 0.032821137458086014, 0.0725671797990799, 0.364596426486969, 0.3406097888946533, 0.09961536526679993, 0.020691584795713425, 46.1775016784668, 24.576000213623047, 25.393999099731445, 4.64900016784668, 0.06480000168085098, 3.2200000286102295, 1.281599998474121, 2.075849771499634, 4.22301721572876, 1.968420386314392, 1.1904966831207275, 0.5213204026222229, 2.1424834728240967, 0.6169354915618896, 1.0559228658676147, 0.1983538419008255, 0.4451913833618164, 0.3502044379711151, 0.7039486169815063, 0.027826614677906036, 0.9124504923820496, 1.0083969831466675, 0.7520959973335266, 0.02425910159945488, 0.490378201007843, 0.3530828356742859, 0.26673105359077454, 0.2905448377132416, 0.051372215151786804, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-30.594619750976562, 1.3986698389053345, -14.103530883789062, -6.244845867156982, 0.135467529296875, 0.552723228931427, 1.8417385816574097, -0.06590528041124344, 0.0550898015499115, 0.16456034779548645, 0.061204660683870316, 0.030463535338640213, 0.12486987560987473, 0.03923672437667847, 0.06670835614204407, 0.028782004490494728, -0.003006996586918831, 0.08367815613746643, 6.4811556512722746e-06, 0.0015495570842176676, 0.01636204496026039, -0.07166507840156555, 3.2405780530098127e-06, 0.0019524977542459965, 0.0004460975178517401, 0.010468573309481144, 0.02225552499294281, -0.0055208634585142136, -0.003005813341587782, 27.876388549804688, 4.028964996337891, 14.148451805114746, -6.4142231941223145, -0.5803486108779907, 1.1767194271087646, -1.1502224206924438, 0.13643339276313782, 0.5098836421966553, 0.1832752376794815, 0.07870674878358841, 0.06380373984575272, 0.34864306449890137, -0.12030205875635147, 0.15781301259994507, 0.03925608843564987, 0.01819363236427307, -0.0038746949285268784, 0.0027944673784077168, 0.001217645825818181, 0.008457290939986706, 0.12808002531528473, 0.0009084436460398138, 0.00012765807332471013, 0.14112971723079681, -0.004689318593591452, -0.1083177849650383, 0.002329976763576269, 0.00017083247075788677, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.104259729385376, 1.8447200059890747, 0.9577648043632507, 1.0925527811050415, 0.30515339970588684, 0.36688074469566345, 0.35387325286865234, 0.17915529012680054, 0.17056024074554443, 0.3288348913192749, 0.17411112785339355, 0.050084393471479416, 0.196799173951149, 0.15766897797584534, 0.0846460685133934, 0.0228695347905159, 0.134111225605011, 0.12115895748138428, 0.0001583227567607537, 0.005815211217850447, 0.13546806573867798, 0.12952165305614471, 7.327915955102071e-05, 0.007596257608383894, 0.006616651546210051, 0.07985417544841766, 0.07859890162944794, 0.017184533178806305, 0.007016245741397142, 5.294533729553223, 3.189312696456909, 1.8369795083999634, 2.9323043823242188, 0.2997921109199524, 0.5776235461235046, 0.6489642262458801, 0.4268812835216522, 1.0025217533111572, 0.35952773690223694, 0.29076600074768066, 0.10668966919183731, 0.5679563283920288, 0.3234613239765167, 0.2534429728984833, 0.05663854256272316, 0.08418057858943939, 0.0832645520567894, 0.050447143614292145, 0.005993860308080912, 0.1526891142129898, 0.21981915831565857, 0.030859868973493576, 0.007581387180835009, 0.1133437305688858, 0.10646279901266098, 0.19055528938770294, 0.02401328831911087, 0.004893362056463957, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1537]}, "observation.state.tcp": {"min": [0.34217482805252075, 0.14969857037067413, 1.027590274810791, -1.2087005376815796, 0.925064742565155, -1.5853804349899292, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25630879402160645, -0.30557796359062195, 0.9883254170417786, -0.3110848665237427, 1.0274616479873657, 0.17869789898395538, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4291152358055115, 0.2594829201698303, 1.1451711654663086, -0.4155026972293854, 1.3327727317810059, -1.2291171550750732, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4602523446083069, -0.08871997147798538, 1.2647840976715088, 1.2081705331802368, 2.0390071868896484, 1.5110725164413452, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3922901451587677, 0.16848641633987427, 1.0699142217636108, -0.5887560844421387, 1.192578673362732, -1.3979170322418213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.37429922819137573, -0.19671058654785156, 1.123205304145813, 0.37474721670150757, 1.6153144836425781, 0.8578135967254639, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.01929321140050888, 0.020870596170425415, 0.017756512388586998, 0.18147215247154236, 0.0546267107129097, 0.06620023399591446, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06361600756645203, 0.05809987708926201, 0.08015912771224976, 0.38241881132125854, 0.2429487258195877, 0.35617080330848694, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1537]}, "action": {"min": [0.7598689794540405, -0.8222838044166565, 1.0354850701332907e-06, 1.1079057455062866, -0.7376642823219299, -0.7699984312057495, 0.38972145318984985, 0.0, -0.1923123002052307, -0.1829933226108551, -0.3490658402442932, 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, 0.2707517445087433, -1.0738221406936646, 0.003836612915620208, 1.1024409532546997, -1.7923880815505981, -0.7651882767677307, -0.44461196660995483, 0.0, -0.3466690182685852, -0.11721744388341904, -0.32759004831314087, 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, 0.5626833438873291, -1.1069231033325195, 0.47021326422691345, -0.02341410517692566, -0.012378755956888199, -0.1253798007965088, -0.7935498356819153], "max": [1.049999713897705, -0.5099844932556152, 0.3870532512664795, 1.5699979066848755, -1.4315032785816584e-06, -0.3175906538963318, 0.6309244632720947, 1.2240207195281982, 0.0, 0.48278316855430603, 0.0, 0.977203369140625, 1.2314167022705078, 0.2160143256187439, 0.1614670306444168, 0.09410963207483292, 1.324108362197876, 0.19377177953720093, 0.0, 0.14289967715740204, 1.1369603872299194, 0.13969868421554565, 0.0, 0.34717828035354614, 0.07698667049407959, 0.7698667049407959, 0.20824849605560303, 0.16241025924682617, 0.13955383002758026, 1.2458751201629639, -0.38928234577178955, 0.8121689558029175, 1.901311993598938, -0.006240130867809057, 0.06643005460500717, 0.5141326785087585, 1.3287153244018555, 0.0, 0.5482426285743713, 0.3490658402442932, 0.6279733180999756, 1.5707963705062866, 0.1489986777305603, 0.11471787095069885, 0.4828588664531708, 1.5707963705062866, 0.22061628103256226, 1.6488401889801025, 1.192334532737732, 1.5707963705062866, 0.2563771605491638, 1.7453292608261108, 0.9406657218933105, 0.1528707593679428, 1.5707963705062866, 0.20153754949569702, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106767177581787, 0.5442397594451904, -3.6402696229143768e-19, 0.004313199315220118, 0.05945606529712677, -0.517839252948761], "mean": [0.9148029685020447, -0.5789734721183777, 0.2217382937669754, 1.212241768836975, -0.6266776323318481, -0.45281314849853516, 0.5449253916740417, 1.1663309335708618, -0.15507610142230988, 0.3877207636833191, -0.3396923243999481, 0.8647177219390869, 1.166054368019104, 0.18009765446186066, 0.09941868484020233, 0.08980345726013184, 1.2244809865951538, 0.1644538938999176, 0.0, 0.11848148703575134, 1.045547366142273, 0.08264534920454025, 0.0, 0.3222411870956421, 0.07020742446184158, 0.7020744681358337, 0.10486141592264175, 0.08955559879541397, 0.07666055113077164, 0.8933686017990112, -0.7045520544052124, 0.3937676250934601, 1.42300283908844, -1.1745857000350952, -0.21452727913856506, -0.14166198670864105, 1.2438448667526245, -0.25138285756111145, 0.2531326115131378, -0.08217037469148636, 0.5755351781845093, 1.2483197450637817, 0.08131006360054016, 0.10085827112197876, 0.4189130365848541, 1.4929176568984985, 0.1651565581560135, 1.2250642776489258, 1.0604315996170044, 1.4029256105422974, 0.15970444679260254, 1.5493651628494263, 0.8263464570045471, 0.12379905581474304, 1.51216721534729, 0.12504571676254272, 1.4844563007354736, 1.1929748058319092, 0.5626831650733948, -1.106783390045166, 0.47849220037460327, -0.015781762078404427, -0.0031658639200031757, -0.01850142329931259, -0.6800737977027893], "std": [0.05325106531381607, 0.073000468313694, 0.04427369311451912, 0.1101720854640007, 0.15389718115329742, 0.05005372688174248, 0.03578029200434685, 0.15745185315608978, 0.02265171892940998, 0.16762636601924896, 0.04745089262723923, 0.12347535043954849, 0.17667344212532043, 0.041351318359375, 0.04055119678378105, 0.0126392412930727, 0.20779812335968018, 0.028141427785158157, 0.0, 0.03890334069728851, 0.168147474527359, 0.023920517414808273, 0.0, 0.053177256137132645, 0.010672423988580704, 0.10672423243522644, 0.03842553496360779, 0.0361250676214695, 0.031195979565382004, 0.2838211953639984, 0.16251978278160095, 0.20789828896522522, 0.22499927878379822, 0.39987921714782715, 0.15655523538589478, 0.17308180034160614, 0.1651591658592224, 0.06603042781352997, 0.23320598900318146, 0.19336852431297302, 0.08433740586042404, 0.24367305636405945, 0.03265785053372383, 0.015225729905068874, 0.08098318427801132, 0.2137366384267807, 0.02834392711520195, 0.4886794984340668, 0.20116795599460602, 0.30733004212379456, 0.032064877450466156, 0.4670087695121765, 0.13965100049972534, 0.029012268409132957, 0.2039857804775238, 0.02842014841735363, 0.5924427509307861, 0.47338682413101196, 1.7976152832943626e-07, 2.233620034530759e-05, 0.00881828274577856, 0.005792051088064909, 0.00404433673247695, 0.046669986099004745, 0.06990886479616165], "count": [1537]}, "observation.state.tcp_pose": {"min": [0.34217482805252075, 0.14969857037067413, 1.027590274810791, -1.2087005376815796, 0.925064742565155, -1.5853804349899292, 0.25630879402160645, -0.30557796359062195, 0.9883254170417786, -0.3110848665237427, 1.0274616479873657, 0.17869789898395538], "max": [0.4291152358055115, 0.2594829201698303, 1.1451711654663086, -0.4155026972293854, 1.3327727317810059, -1.2291171550750732, 0.4602523446083069, -0.08871997147798538, 1.2647840976715088, 1.2081705331802368, 2.0390071868896484, 1.5110725164413452], "mean": [0.3922901451587677, 0.16848641633987427, 1.0699142217636108, -0.5887560844421387, 1.192578673362732, -1.3979170322418213, 0.37429922819137573, -0.19671058654785156, 1.123205304145813, 0.37474721670150757, 1.6153144836425781, 0.8578135967254639], "std": [0.01929321140050888, 0.020870596170425415, 0.017756512388586998, 0.18147215247154236, 0.0546267107129097, 0.06620023399591446, 0.06361600756645203, 0.05809987708926201, 0.08015912771224976, 0.38241881132125854, 0.2429487258195877, 0.35617080330848694], "count": [1537]}, "action.tcp_pose": {"min": [0.34212207794189453, 0.14964838325977325, 1.027626395225525, -1.2088545560836792, 0.9253348708152771, -1.5872310400009155, 0.25619304180145264, -0.30691471695899963, 0.988349437713623, -0.31119024753570557, 1.0238316059112549, 0.1786785125732422], "max": [0.4290494918823242, 0.2595955431461334, 1.1467227935791016, -0.4150012731552124, 1.3321372270584106, -1.228954792022705, 0.4606109857559204, -0.08871587365865707, 1.264509677886963, 1.206286072731018, 2.03877854347229, 1.5273836851119995], "mean": [0.39230331778526306, 0.168460875749588, 1.0699445009231567, -0.5886132717132568, 1.1924854516983032, -1.3981130123138428, 0.37427377700805664, -0.19677859544754028, 1.1235047578811646, 0.37481555342674255, 1.6148818731307983, 0.8577768206596375], "std": [0.019396530464291573, 0.020843883976340294, 0.017912257462739944, 0.18120141327381134, 0.054798029363155365, 0.06625847518444061, 0.06376820802688599, 0.05829824507236481, 0.08042468875646591, 0.3824639320373535, 0.24292448163032532, 0.3566563129425049], "count": [1537]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.870527000650618], "std": [6.827135706897625], "count": [1537]}, "observation.tactile": {"min": [-7.886302947998047, -0.011993408203125, 0.0, -0.1336202621459961, -0.01761913299560547, -0.16408896446228027, -0.3194561004638672, -0.000152587890625, -0.002197265625, -0.1640005111694336, -0.015050411224365234, -0.006273746490478516, -0.2389354705810547, -0.026641845703125, -0.01239013671875, -0.06683635711669922, -0.009361743927001953, -0.010452032089233398, -0.026638031005859375, -0.007904052734375, -0.00482177734375, -0.00040340423583984375, -0.00042247772216796875, -0.0003616809844970703, -0.0011882781982421875, -0.00616455078125, -0.00384521484375, -0.00023651123046875, -0.0007905960083007812, -0.00031304359436035156, -0.5680427551269531, -0.0184326171875, 0.0, -0.41359996795654297, -0.031179428100585938, -0.010880470275878906, -8.94671630859375, -0.008453369140625, -0.00152587890625, -0.19250965118408203, -0.020624160766601562, -0.16385388374328613, -0.03373908996582031, -0.005340576171875, -0.00634765625, -0.00058746337890625, -0.0016598701477050781, -0.0005586147308349609, -0.01813507080078125, -0.009185791015625, -0.0174560546875, -0.00028228759765625, -0.0011882781982421875, -0.0006732940673828125, -0.020534515380859375, -0.00677490234375, -0.00689697265625, -0.0002460479736328125, -0.001934051513671875, -0.0005457401275634766], "max": [0.057880401611328125, 6.11920166015625, 5.83953857421875, 0.0020112991333007812, 0.0036211013793945312, 0.0013020038604736328, 4.630495071411133, 6.36407470703125, 12.51483154296875, 0.0006866455078125, 0.012880802154541016, 0.07618474960327148, 2.7643604278564453, 3.727447509765625, 5.50299072265625, 0.015004158020019531, 0.009940624237060547, 0.03954339027404785, 0.00449371337890625, 0.0062408447265625, 0.00543212890625, 0.0005054473876953125, 0.00019121170043945312, 1.71661376953125e-05, 0.024065017700195312, 0.0027923583984375, 0.0032958984375, 0.0008335113525390625, 0.00015735626220703125, 0.0, 7.442211151123047, 19.62567138671875, 17.22003173828125, 0.007702827453613281, 0.03907203674316406, 0.1444234848022461, 1.05718994140625, 8.204986572265625, 8.6060791015625, 0.004374504089355469, 0.0026416778564453125, 0.025553464889526367, 0.021207809448242188, 0.0513916015625, 0.0205078125, 0.0011138916015625, 0.0005602836608886719, 1.6689300537109375e-05, 0.02484130859375, 0.0089874267578125, 0.0054931640625, 0.0012722015380859375, 0.00029087066650390625, 1.52587890625e-05, 0.009662628173828125, 0.077545166015625, 0.0052490234375, 0.001117706298828125, 0.00018548965454101562, 3.0040740966796875e-05], "mean": [-2.6515045166015625, 2.3546342849731445, 1.8050247430801392, -0.041038401424884796, -0.0030582405161112547, -0.06129813939332962, 1.1455217599868774, 1.0215272903442383, 3.3270721435546875, -0.04562186822295189, 0.0011750919511541724, 0.017001114785671234, 0.06550759822130203, 0.10785195231437683, 0.328972190618515, -0.004840617533773184, -0.00025082440697588027, 0.0008686864748597145, -0.007964721880853176, 0.00029228971106931567, 0.0006605457165278494, 9.044642501976341e-05, -6.281034438870847e-05, -0.00013940459757577628, 0.0030739237554371357, -0.0010469892295077443, -0.0003059699956793338, 0.00035350603866390884, -0.0003633204323705286, -0.00015256958431564271, 1.6713109016418457, 2.7845330238342285, 3.012094259262085, -0.06966307014226913, -0.0012210265267640352, 0.03173523768782616, -1.209457516670227, 1.4015276432037354, 1.9720560312271118, -0.036914777010679245, -0.0027559183072298765, -0.02181399241089821, 0.0037223701365292072, 3.82313592126593e-05, -0.0002812303137034178, 0.00027148445951752365, -0.00035333013511262834, -0.00023968939785845578, 0.00918063148856163, -0.00019650778267532587, -0.004166552796959877, 0.000632071984000504, -0.000609791255556047, -0.00027744879480451345, -0.0017131689237430692, -0.00020419179054442793, -0.00115966796875, 0.00034071426489390433, -0.00018913185340352356, -0.0001219727419083938], "std": [1.349517583847046, 1.4107297658920288, 1.1557238101959229, 0.02692839875817299, 0.002540220506489277, 0.030146753415465355, 0.8158637881278992, 0.7690702676773071, 1.7681673765182495, 0.0252878125756979, 0.0025766605976969004, 0.013777637854218483, 0.25740715861320496, 0.278136283159256, 0.5284982919692993, 0.008187549188733101, 0.001524033723399043, 0.003348706290125847, 0.004694800358265638, 0.001837718184106052, 0.0013363612815737724, 0.00010992267925757915, 7.672938227187842e-05, 6.723437400069088e-05, 0.002055112272500992, 0.0013014223659411073, 0.001105372328311205, 0.00015079152944963425, 0.00014830638247076422, 5.0397251470712945e-05, 2.3612723350524902, 4.196421146392822, 4.2020487785339355, 0.09908611327409744, 0.008730833418667316, 0.04506061226129532, 2.082481861114502, 2.0140137672424316, 2.72121000289917, 0.051597051322460175, 0.004155029077082872, 0.038588907569646835, 0.0072006830014288425, 0.0019556512124836445, 0.0019207990262657404, 0.0002658382582012564, 0.0002908746828325093, 0.00011037283547921106, 0.005465240217745304, 0.0020250771194696426, 0.00316077028401196, 0.0002312328724656254, 0.0002503161085769534, 0.00010421289334772155, 0.004774255212396383, 0.0023135419469326735, 0.0016224377322942019, 0.00018649574485607445, 0.00018039533460978419, 6.416483665816486e-05], "count": [1537]}, "timestamp": {"min": [0.0], "max": [51.2], "mean": [25.599999999999998], "std": [14.78978626545285], "count": [1537]}, "frame_index": {"min": [0], "max": [1536], "mean": [768.0], "std": [443.6935879635855], "count": [1537]}, "episode_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [1537]}, "index": {"min": [35607], "max": [37143], "mean": [36375.0], "std": [443.6935879635855], "count": [1537]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1537]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3285733163356781]], [[0.32784461975097656]], [[0.3278101682662964]]], "std": [[[0.20393094420433044]], [[0.2039656937122345]], [[0.20403821766376495]]], "count": [1537]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3029939532279968]], [[0.30483654141426086]], [[0.30289924144744873]]], "std": [[[0.1703212559223175]], [[0.17244213819503784]], [[0.17159612476825714]]], "count": [1537]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3091350793838501]], [[0.30807510018348694]], [[0.30636507272720337]]], "std": [[[0.17355197668075562]], [[0.174235999584198]], [[0.172730952501297]]], "count": [1537]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3242570459842682]], [[0.32355213165283203]], [[0.3236928880214691]]], "std": [[[0.2021629810333252]], [[0.20225566625595093]], [[0.20239563286304474]]], "count": [1537]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7607843279838562]], [[0.7607843279838562]], [[0.7607843279838562]]], "mean": [[[0.006322290748357773]], [[0.006322290748357773]], [[0.006322290748357773]]], "std": [[[0.05297620967030525]], [[0.05297620967030525]], [[0.05297620967030525]]], "count": [1537]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[0.95686274766922]], [[0.95686274766922]], [[0.95686274766922]]], "mean": [[[0.47382643818855286]], [[0.47382643818855286]], [[0.47382643818855286]]], "std": [[[0.15229777991771698]], [[0.15229777991771698]], [[0.15229777991771698]]], "count": [1537]}}}
+{"episode_index": 24, "stats": {"observation.state": {"min": [0.8144237995147705, -0.8728644251823425, 0.0003752260818146169, 1.0692812204360962, -0.8088161945343018, -0.7695780992507935, 0.36058327555656433, 0.007682206109166145, -0.2245594561100006, -0.12319659441709518, -0.3171989917755127, 0.0032644604798406363, 0.0032749446108937263, -8.365211397176608e-05, 0.003407703945413232, 0.0008766470709815621, 0.0038300903979688883, -0.0006091151153668761, 0.0035147815942764282, 0.0008597970008850098, 0.0033269510604441166, 0.0001054851381923072, 0.0030701598152518272, 0.0008580232970416546, 0.0060239206068217754, 0.0032923617400228977, 7.629267201991752e-05, 0.00651544751599431, 0.000837182451505214, 0.3092800974845886, -1.0950692892074585, 3.5952675148109847e-07, 1.2396910190582275, -1.7515571117401123, -0.770005464553833, -0.42518484592437744, 0.029294971376657486, -0.3223167657852173, -0.12500408291816711, -0.3146592676639557, 0.006887383759021759, 0.01707681082189083, 8.953861834015697e-05, 0.003486416768282652, 0.00469806557521224, 0.036224812269210815, 0.0016889888793230057, 0.00339103932492435, 0.006406130734831095, 0.013826888985931873, -8.144418097799644e-05, 0.010366000235080719, 0.005446119699627161, 0.010356691665947437, 0.044415608048439026, 0.0017201442969962955, 0.003188229398801923, 0.000863787776324898, 0.5621080994606018, -1.107150673866272, 0.4915449619293213, -0.01629854552447796, -0.018311895430088043, -0.06030461937189102, -0.8019843101501465], "max": [1.0499305725097656, -0.4785410761833191, 0.3509056568145752, 1.6012057065963745, -0.00035629101330414414, -0.2901952564716339, 0.5421265363693237, 1.2525484561920166, -7.678798283450305e-05, 0.49123311042785645, -0.002455621026456356, 0.8847326040267944, 1.2094242572784424, 0.2112194150686264, 0.23939552903175354, 0.0896805077791214, 1.3261005878448486, 0.20317071676254272, 0.022430356591939926, 0.11483411490917206, 1.0220547914505005, 0.15570484101772308, 0.7842267751693726, 0.2805558741092682, 0.05953706055879593, 0.7056710720062256, 0.18613018095493317, 0.1444779932498932, 0.12406839430332184, 1.2846578359603882, -0.4317687153816223, 0.7220478653907776, 1.898277759552002, 1.1984225238848012e-06, 0.011093078181147575, 0.5199982523918152, 1.3330192565917969, -0.00035611423663794994, 0.5128109455108643, 0.31456059217453003, 0.6454171538352966, 1.4637449979782104, 0.12795567512512207, 0.1080172210931778, 0.4801666736602783, 1.4666327238082886, 0.20066380500793457, 1.6533408164978027, 1.1138684749603271, 1.4667713642120361, 0.22868168354034424, 1.653706669807434, 0.914917528629303, 0.1251622587442398, 1.466784119606018, 0.198500394821167, 1.6534205675125122, 1.3080912828445435, 0.563066840171814, -1.106767177581787, 0.5436044335365295, 0.0023009711876511574, 0.0, 0.06912501156330109, -0.5996906161308289], "mean": [0.9555615186691284, -0.5717713236808777, 0.2049960345029831, 1.1920002698898315, -0.6948760747909546, -0.48672449588775635, 0.5142128467559814, 1.2046407461166382, -0.18227484822273254, 0.3951148986816406, -0.3073866069316864, 0.7338825464248657, 1.157004475593567, 0.1837741732597351, 0.17262762784957886, 0.08435671031475067, 1.2452267408370972, 0.1657285988330841, 0.00414985790848732, 0.10248488187789917, 0.9421319365501404, 0.08513713628053665, 0.31737247109413147, 0.2550581097602844, 0.05600012093782425, 0.6549534797668457, 0.08826979249715805, 0.12017408013343811, 0.10188762098550797, 0.93906170129776, -0.761513888835907, 0.30619513988494873, 1.4661940336227417, -1.1057543754577637, -0.28442129492759705, -0.12042093276977539, 1.2425267696380615, -0.24616479873657227, 0.25122347474098206, -0.09272688627243042, 0.5794144868850708, 1.2518798112869263, 0.06527547538280487, 0.09675328433513641, 0.40902411937713623, 1.4087858200073242, 0.15612074732780457, 1.3330930471420288, 1.0344895124435425, 1.3087573051452637, 0.1492765098810196, 1.4734454154968262, 0.8220248818397522, 0.10462351143360138, 1.44050931930542, 0.12340891361236572, 1.3372327089309692, 1.0684479475021362, 0.5626842379570007, -1.1068518161773682, 0.49874550104141235, -0.009355578571557999, -0.007945445366203785, 0.014404927380383015, -0.7022408843040466], "std": [0.04686110094189644, 0.10732470452785492, 0.04371245950460434, 0.16224414110183716, 0.19354738295078278, 0.04522203281521797, 0.03888697549700737, 0.15257138013839722, 0.024743905290961266, 0.14912614226341248, 0.03940841555595398, 0.09742093831300735, 0.15944184362888336, 0.03739172965288162, 0.06283984333276749, 0.011363785713911057, 0.2081179916858673, 0.026792239397764206, 0.002877358114346862, 0.03018808551132679, 0.19111225008964539, 0.019399065524339676, 0.12238248437643051, 0.05982634052634239, 0.009404205717146397, 0.09408426284790039, 0.02321362867951393, 0.033820684999227524, 0.029321160167455673, 0.25726720690727234, 0.15695302188396454, 0.1979966014623642, 0.19454045593738556, 0.43905481696128845, 0.17456082999706268, 0.17819948494434357, 0.15719230473041534, 0.056036077439785004, 0.20432361960411072, 0.1980685144662857, 0.07787187397480011, 0.20785032212734222, 0.023706672713160515, 0.013578136451542377, 0.06734445691108704, 0.17339269816875458, 0.02480200305581093, 0.5899301171302795, 0.16393256187438965, 0.2787609100341797, 0.027219535782933235, 0.39158377051353455, 0.15191267430782318, 0.023764893412590027, 0.15148770809173584, 0.025578714907169342, 0.600309431552887, 0.4739387631416321, 6.163437501527369e-05, 3.4781991416821256e-05, 0.00684937322512269, 0.0058248150162398815, 0.004229038488119841, 0.029987504705786705, 0.06478206068277359], "count": [1374]}, "observation.state.joint_torque": {"min": [-38.637001037597656, -5.616000175476074, -19.867000579833984, -12.300999641418457, -0.36640000343322754, -0.7911999821662903, 0.14880000054836273, -1.1334394216537476, -0.7513812184333801, -0.822660505771637, -0.9618417620658875, -0.3818588852882385, -0.3358124792575836, -0.5382594466209412, -0.25235894322395325, -0.04281017929315567, -0.43943458795547485, -0.28975820541381836, -0.04980768263339996, -0.02354559674859047, -0.4854888916015625, -0.5238674879074097, -0.10957689583301544, -0.025686107575893402, -0.0835622102022171, -0.4471103250980377, -0.4116101562976837, -0.1062563955783844, -0.026399608701467514, 4.399499893188477, -5.868000030517578, -0.4320000112056732, -13.064000129699707, -2.079200029373169, -1.4847999811172485, -3.4000000953674316, -1.3053656816482544, -1.1461747884750366, -1.4551894664764404, -0.9879382252693176, -0.13116022944450378, -0.477813184261322, -1.2050870656967163, -0.1062563955783844, -0.014983562752604485, -0.40105605125427246, -0.3665153384208679, -0.35861530900001526, -0.032821137458086014, -0.5612865686416626, -0.570881187915802, -0.32374992966651917, -0.02996712550520897, -0.0620119534432888, -0.3837856948375702, -0.7925174236297607, -0.3270704448223114, -0.0642152652144432, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-14.227499961853027, 8.512499809265137, -5.584000110626221, -1.1579999923706055, 1.960800051689148, 1.555999994277954, 4.623199939727783, 0.8226987719535828, 0.9334956407546997, 1.1383036375045776, 0.9978797435760498, 0.09297433495521545, 0.7877200841903687, 0.5046781897544861, 0.3088076114654541, 0.06492877006530762, 0.40585336089134216, 0.40105605125427246, 0.033205125480890274, 0.019264578819274902, 0.4471103549003601, 0.3290962278842926, 0.09961536526679993, 0.02996712550520897, 0.0725671797990799, 0.44615086913108826, 0.41736695170402527, 0.09463459998369217, 0.019978083670139313, 46.59149932861328, 13.055999755859375, 27.117000579833984, -0.020999999716877937, -0.04399999976158142, 3.3512001037597656, 0.6471999883651733, 1.418709635734558, 2.973686933517456, 1.2899117469787598, 1.75592041015625, 0.3171089291572571, 1.915090560913086, 0.47973212599754333, 1.0310190916061401, 0.1662461906671524, 0.6601113677024841, 0.3060690760612488, 0.2125127911567688, 0.04851820319890976, 0.5939083695411682, 0.8942207098007202, 0.22745507955551147, 0.027113113552331924, 0.490378201007843, 0.3338935673236847, 0.3406098186969757, 0.35861530900001526, 0.06492877006530762, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-30.766477584838867, 1.5621764659881592, -14.069025993347168, -5.870819091796875, 0.1849500685930252, 0.7692041993141174, 1.798102617263794, -0.06557831168174744, 0.03941088542342186, 0.1650957465171814, 0.07124128937721252, 0.00012929318472743034, 0.09101663529872894, 0.055382225662469864, 0.039797794073820114, 0.019535629078745842, -0.0008603144669905305, 0.049522094428539276, -0.0006802932475693524, 0.000183829091838561, -0.004603203851729631, -0.016616741195321083, 0.0001437915489077568, -0.0003692138707265258, 0.0003376937529537827, 0.006216239184141159, 0.006875460036098957, -0.0016203769482672215, -0.0005805646651424468, 27.05293083190918, 4.1024370193481445, 14.553995132446289, -5.919826030731201, -0.6807828545570374, 1.083227515220642, -1.1687003374099731, 0.05787788704037666, 0.41903144121170044, 0.14397194981575012, 0.019140517339110374, 0.03516503423452377, 0.21328739821910858, -0.1386614888906479, 0.10784033685922623, 0.0276588536798954, 0.006659703329205513, 0.0035620161797851324, 0.0001449996925657615, 0.001166325411759317, -0.030734291300177574, 0.08113336563110352, 0.0022450925316661596, 7.841196202207357e-05, 0.10683511942625046, 0.009828555397689342, -0.07124961912631989, -0.0007056680624373257, -0.0004819001769647002, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.4566071033477783, 1.8015141487121582, 1.0132476091384888, 1.0430129766464233, 0.296673983335495, 0.4130820333957672, 0.38539645075798035, 0.17716379463672638, 0.16893960535526276, 0.29835018515586853, 0.1893039047718048, 0.023605169728398323, 0.13755366206169128, 0.1341278851032257, 0.06891326606273651, 0.014681306667625904, 0.11025281250476837, 0.09083566814661026, 0.005807522218674421, 0.004398931283503771, 0.09591922909021378, 0.07818485796451569, 0.019421815872192383, 0.006087794434279203, 0.0073148347437381744, 0.08086749911308289, 0.06695295125246048, 0.021193208172917366, 0.00740591436624527, 4.922947406768799, 2.7606208324432373, 2.0648109912872314, 2.777867078781128, 0.2929272949695587, 0.7391539812088013, 0.6592586636543274, 0.404635488986969, 0.6940350532531738, 0.3041854202747345, 0.32488900423049927, 0.06641905009746552, 0.40717607736587524, 0.28728488087654114, 0.1698085367679596, 0.037640560418367386, 0.07239817827939987, 0.07019162178039551, 0.021254397928714752, 0.005329160485416651, 0.1216212660074234, 0.21686917543411255, 0.017541714012622833, 0.0072901370003819466, 0.10719218850135803, 0.07476894557476044, 0.15882225334644318, 0.028534945100545883, 0.005876392591744661, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1374]}, "observation.state.tcp": {"min": [0.33605799078941345, 0.14456014335155487, 1.0333046913146973, -1.2081687450408936, 1.068373680114746, -1.5593372583389282, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.26331374049186707, -0.32042834162712097, 0.9935376644134521, -0.3428575098514557, 1.1240978240966797, 0.1693190485239029, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.44063952565193176, 0.24085363745689392, 1.1513243913650513, -0.3534066677093506, 1.429944396018982, -1.2292704582214355, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.43965944647789, -0.08261560648679733, 1.2567753791809082, 1.2084949016571045, 2.0982799530029297, 1.667379379272461, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.40595191717147827, 0.16509367525577545, 1.074601650238037, -0.5184288620948792, 1.2129762172698975, -1.3244630098342896, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.37145406007766724, -0.21013708412647247, 1.1099059581756592, 0.4200199544429779, 1.592126488685608, 0.8448596596717834, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.024572420865297318, 0.021082019433379173, 0.019128059968352318, 0.2250978648662567, 0.053895074874162674, 0.07861586660146713, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05999357998371124, 0.06306886672973633, 0.0773167535662651, 0.4518928825855255, 0.2561750113964081, 0.3875969350337982, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1374]}, "action": {"min": [0.8141152262687683, -0.8731264472007751, -6.112778699983169e-17, 1.0691626071929932, -0.8088037371635437, -0.7699999809265137, 0.3605964481830597, 0.0, -0.2227039933204651, -0.12836433947086334, -0.3490658402442932, 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, 0.30929359793663025, -1.095293402671814, 1.7684347767499276e-05, 1.2395424842834473, -1.7516075372695923, -0.7699568867683411, -0.42522022128105164, 0.0, -0.3477235436439514, -0.1307356208562851, -0.3162769675254822, 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, 0.5626833438873291, -1.1069231033325195, 0.4913870096206665, -0.016989916563034058, -0.018905194476246834, -0.060693904757499695, -0.8023765087127686], "max": [1.0499999523162842, -0.47852784395217896, 0.3509034812450409, 1.6012942790985107, 1.9012456866316948e-17, -0.2841627895832062, 0.5421976447105408, 1.2573847770690918, 0.0, 0.4997623562812805, 0.0, 0.8885105848312378, 1.214661955833435, 0.21476787328720093, 0.24455219507217407, 0.09100341796875, 1.3269312381744385, 0.20287984609603882, 0.027557794004678726, 0.11969828605651855, 1.0295848846435547, 0.15446323156356812, 0.7886375784873962, 0.28263598680496216, 0.07131092250347137, 0.7131092548370361, 0.18792325258255005, 0.15073275566101074, 0.12885431945323944, 1.2847285270690918, -0.43171191215515137, 0.7227173447608948, 1.8982726335525513, -6.58282297081314e-05, 0.01114262267947197, 0.5199286341667175, 1.336768627166748, 0.0, 0.5204392075538635, 0.3490658402442932, 0.6503119468688965, 1.5707963705062866, 0.12848156690597534, 0.11358176916837692, 0.483663946390152, 1.5707963705062866, 0.20441335439682007, 1.7453292608261108, 1.1172654628753662, 1.5707963705062866, 0.22809451818466187, 1.7453292608261108, 0.9190943241119385, 0.14117416739463806, 1.5707963705062866, 0.2062353491783142, 1.7453292608261108, 1.3962633609771729, 0.5627791881561279, -1.106863021850586, 0.5442397594451904, 0.0023212318774312735, 8.677526784595102e-05, 0.06945038586854935, -0.6000000238418579], "mean": [0.955582857131958, -0.5718914866447449, 0.20499588549137115, 1.1922439336776733, -0.6948983669281006, -0.4866775572299957, 0.5142282843589783, 1.2016133069992065, -0.180904358625412, 0.4007876515388489, -0.3407810926437378, 0.7379160523414612, 1.1604187488555908, 0.1878398209810257, 0.17647360265254974, 0.08731800317764282, 1.247424840927124, 0.17053624987602234, 0.0006415385287255049, 0.10659326612949371, 0.9443545937538147, 0.08840186893939972, 0.3203469216823578, 0.25583046674728394, 0.06597843766212463, 0.6597833037376404, 0.0910489410161972, 0.12135240435600281, 0.10402149707078934, 0.9394404888153076, -0.7621528506278992, 0.305916428565979, 1.4662753343582153, -1.104954481124878, -0.28490954637527466, -0.12052100151777267, 1.2446000576019287, -0.2468867003917694, 0.2534694969654083, -0.09258117526769638, 0.5822914838790894, 1.2654163837432861, 0.0652005672454834, 0.09925727546215057, 0.4118052124977112, 1.4913747310638428, 0.15696997940540314, 1.3988640308380127, 1.0374516248703003, 1.3786109685897827, 0.1496027112007141, 1.5483897924423218, 0.8240855932235718, 0.11961885541677475, 1.540946364402771, 0.1236264556646347, 1.4026989936828613, 1.132238507270813, 0.5627831220626831, -1.1068528890609741, 0.49880754947662354, -0.009390137158334255, -0.007985899224877357, 0.014404443092644215, -0.7022921442985535], "std": [0.04691600427031517, 0.10750729590654373, 0.04393409565091133, 0.16254833340644836, 0.19356991350650787, 0.045774951577186584, 0.03886181116104126, 0.1671374887228012, 0.027836183086037636, 0.14924106001853943, 0.050223201513290405, 0.11359652131795883, 0.1737663447856903, 0.0404517687857151, 0.06527765840291977, 0.012926866300404072, 0.2174113392829895, 0.030826587229967117, 0.0036640886683017015, 0.031424012035131454, 0.19573640823364258, 0.021899498999118805, 0.132656067609787, 0.06030675023794174, 0.01037841197103262, 0.10378417372703552, 0.026047606021165848, 0.03390045464038849, 0.029055148363113403, 0.25744935870170593, 0.1576148122549057, 0.19779564440250397, 0.19459395110607147, 0.4391421377658844, 0.1747361719608307, 0.17820776998996735, 0.17591102421283722, 0.06556139141321182, 0.20422616600990295, 0.20188717544078827, 0.08940009027719498, 0.23174066841602325, 0.023767832666635513, 0.01536817941814661, 0.0745186135172844, 0.21625663340091705, 0.027922451496124268, 0.6234579682350159, 0.1737840473651886, 0.32429957389831543, 0.02969149313867092, 0.4290081858634949, 0.15779641270637512, 0.02544628642499447, 0.19204415380954742, 0.028253866359591484, 0.6332943439483643, 0.5054521560668945, 1.578160299686715e-05, 1.3324489373189863e-05, 0.007161142770200968, 0.0058662970550358295, 0.004246762488037348, 0.030050508677959442, 0.0648428276181221], "count": [1374]}, "observation.state.tcp_pose": {"min": [0.33605799078941345, 0.14456014335155487, 1.0333046913146973, -1.2081687450408936, 1.068373680114746, -1.5593372583389282, 0.26331374049186707, -0.32042834162712097, 0.9935376644134521, -0.3428575098514557, 1.1240978240966797, 0.1693190485239029], "max": [0.44063952565193176, 0.24085363745689392, 1.1513243913650513, -0.3534066677093506, 1.429944396018982, -1.2292704582214355, 0.43965944647789, -0.08261560648679733, 1.2567753791809082, 1.2084949016571045, 2.0982799530029297, 1.667379379272461], "mean": [0.40595191717147827, 0.16509367525577545, 1.074601650238037, -0.5184288620948792, 1.2129762172698975, -1.3244630098342896, 0.37145406007766724, -0.21013708412647247, 1.1099059581756592, 0.4200199544429779, 1.592126488685608, 0.8448596596717834], "std": [0.024572420865297318, 0.021082019433379173, 0.019128059968352318, 0.2250978648662567, 0.053895074874162674, 0.07861586660146713, 0.05999357998371124, 0.06306886672973633, 0.0773167535662651, 0.4518928825855255, 0.2561750113964081, 0.3875969350337982], "count": [1374]}, "action.tcp_pose": {"min": [0.33608871698379517, 0.14457890391349792, 1.0322277545928955, -1.208855390548706, 1.0624282360076904, -1.5596983432769775, 0.26327458024024963, -0.32055962085723877, 0.9932695627212524, -0.3426463007926941, 1.1196893453598022, 0.16951969265937805], "max": [0.44067567586898804, 0.2424917370080948, 1.151430368423462, -0.3535209596157074, 1.4331635236740112, -1.2289544343948364, 0.4406239688396454, -0.08261822909116745, 1.2568100690841675, 1.2087384462356567, 2.0984320640563965, 1.669772982597351], "mean": [0.4060109257698059, 0.16506430506706238, 1.0745608806610107, -0.5184283256530762, 1.2131177186965942, -1.324650526046753, 0.371482253074646, -0.2104482203722, 1.109979271888733, 0.4209133982658386, 1.5919334888458252, 0.8444104790687561], "std": [0.024670150130987167, 0.021067840978503227, 0.019213218241930008, 0.22500406205654144, 0.05421077087521553, 0.0787460058927536, 0.06016751751303673, 0.06341733038425446, 0.07758744806051254, 0.45173439383506775, 0.25678953528404236, 0.387848436832428], "count": [1374]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.318777292576419], "std": [6.858115792021665], "count": [1374]}, "observation.tactile": {"min": [-6.706573486328125, -0.0047607421875, -0.00347900390625, -0.1151418685913086, -0.013122081756591797, -0.1472461223602295, -1.2057342529296875, -0.001190185546875, -0.00201416015625, -0.1853475570678711, -0.013599395751953125, -0.02943587303161621, -0.1589794158935547, -0.025146484375, -0.007080078125, -0.004033088684082031, -0.002377033233642578, -0.002359151840209961, -0.05242156982421875, -0.01171875, -0.00933837890625, -0.0028295516967773438, -0.0021314620971679688, -0.0019366741180419922, -0.0020847320556640625, 0.0, -0.00115966796875, -2.09808349609375e-05, -0.0011258125305175781, -0.00029587745666503906, -2.6025390625, -0.02734375, -0.001953125, -0.3584756851196289, -0.040871620178222656, -0.06198263168334961, -5.564258575439453, -0.0084228515625, -0.0009765625, -0.12687206268310547, -0.015873432159423828, -0.1123964786529541, -0.025777816772460938, -0.007568359375, -0.0052490234375, -0.00023651123046875, -0.0012822151184082031, -0.0005185604095458984, -0.0255126953125, -0.016387939453125, -0.0205078125, -0.000568389892578125, -0.0013027191162109375, -0.0007927417755126953, -0.03655433654785156, -0.004425048828125, -0.00701904296875, -0.00014495849609375, -0.0011267662048339844, -0.0004801750183105469], "max": [0.431854248046875, 3.788543701171875, 5.50665283203125, 0.001483917236328125, 0.007473468780517578, 0.010339021682739258, 6.1546173095703125, 6.8409423828125, 13.86614990234375, 0.00144195556640625, 0.013034820556640625, 0.09858536720275879, 0.2404346466064453, 0.34259033203125, 0.29205322265625, 0.0019788742065429688, 0.00045943260192871094, 0.0031855106353759766, 0.5213394165039062, 0.108123779296875, 0.16845703125, 0.0008411407470703125, 0.0035638809204101562, 0.005602121353149414, 0.016492843627929688, 0.010284423828125, 0.0076904296875, 0.0011806488037109375, 0.0, 3.075599670410156e-05, 7.1376953125, 20.9534912109375, 12.88348388671875, 0.0036001205444335938, 0.048026084899902344, 0.1614975929260254, 0.9928703308105469, 7.067474365234375, 6.37506103515625, 0.0030298233032226562, 0.016856670379638672, 0.0231320858001709, 0.027460098266601562, 0.007080078125, 0.023193359375, 0.0016002655029296875, 0.00015497207641601562, 0.0, 0.348358154296875, 0.0645751953125, 0.028533935546875, 0.001430511474609375, 0.0013756752014160156, 0.004288434982299805, 0.016698837280273438, 0.012451171875, 0.00335693359375, 0.0013790130615234375, 0.00023055076599121094, 9.059906005859375e-06], "mean": [-2.017448663711548, 1.2331368923187256, 1.3831279277801514, -0.025156015530228615, 0.0032843672670423985, -0.045177560299634933, 0.6133432388305664, 0.9590046405792236, 2.2184717655181885, -0.02954949252307415, 0.0008939924300648272, 0.008828475140035152, 0.005056833848357201, 0.007794265169650316, 0.00816329661756754, 0.00014412490418180823, -0.0001634699438000098, 2.0015273548779078e-05, -0.012049812823534012, 0.004236868117004633, 0.000392086454667151, 0.000351965514710173, -0.0003464737383183092, -0.00020922973635606468, 0.0030142313335090876, 0.005264770705252886, 0.003189508803188801, 0.0005264795618131757, -0.0005498324753716588, -0.00014381056826096028, 0.9701803922653198, 2.5098330974578857, 2.4108200073242188, -0.05272455886006355, -0.0018474726239219308, 0.01666208542883396, -0.803853452205658, 0.9595231413841248, 1.5306849479675293, -0.027803657576441765, -0.0005753859295509756, -0.01603451929986477, 0.006917002610862255, 0.0007708464981988072, 0.001184410764835775, 0.0007542994571849704, -0.0006628938717767596, -0.00029237536364234984, 0.009305791929364204, -0.002418284770101309, -0.0021802298724651337, 0.00048156664706766605, -0.0005824232939630747, -0.0003750082978513092, 0.0015589201357215643, 0.00036822102265432477, -0.0018577519804239273, 0.0005447007133625448, -0.000347819208400324, -0.0001700499706203118], "std": [1.1119873523712158, 0.6881612539291382, 0.7866525650024414, 0.01526704616844654, 0.0027724928222596645, 0.025076156482100487, 0.6806634664535522, 0.7441518902778625, 1.5460768938064575, 0.0216079019010067, 0.0020091424230486155, 0.01123976893723011, 0.029847780242562294, 0.033851075917482376, 0.0335395373404026, 0.00034692222834564745, 0.0003806819731835276, 0.0002669485693331808, 0.03661734238266945, 0.006096651777625084, 0.009068897925317287, 0.0002520268608350307, 0.0003097071894444525, 0.0004068310954608023, 0.001979280961677432, 0.0014479157980531454, 0.0012896675616502762, 0.00014707188529428095, 0.0001411297998856753, 4.9085367209045216e-05, 2.033003330230713, 3.8108789920806885, 3.2180516719818115, 0.07338272780179977, 0.007847125642001629, 0.03737044334411621, 1.555189847946167, 1.29012930393219, 1.8727006912231445, 0.03483642265200615, 0.0033294891472905874, 0.030571723356842995, 0.008248408325016499, 0.0015973395202308893, 0.0020338352769613266, 0.00032728767837397754, 0.000304255576338619, 9.434860839974135e-05, 0.014859618619084358, 0.0030194204300642014, 0.00351709290407598, 0.00027042909641750157, 0.000336555385729298, 0.00021156143338885158, 0.003516723634675145, 0.0016086278483271599, 0.0016978115309029818, 0.0002737486793193966, 0.00030931559740565717, 8.973800140665844e-05], "count": [1374]}, "timestamp": {"min": [0.0], "max": [45.766666666666666], "mean": [22.883333333333333], "std": [13.22131766280278], "count": [1374]}, "frame_index": {"min": [0], "max": [1373], "mean": [686.5], "std": [396.63952988408334], "count": [1374]}, "episode_index": {"min": [24], "max": [24], "mean": [24.0], "std": [0.0], "count": [1374]}, "index": {"min": [37144], "max": [38517], "mean": [37830.5], "std": [396.63952988408334], "count": [1374]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1374]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33902522921562195]], [[0.3382842540740967]], [[0.3381321132183075]]], "std": [[[0.21396061778068542]], [[0.21395470201969147]], [[0.2139243334531784]]], "count": [1374]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3050200343132019]], [[0.30721187591552734]], [[0.3058996796607971]]], "std": [[[0.17217974364757538]], [[0.1744920313358307]], [[0.17370106279850006]]], "count": [1374]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3098730742931366]], [[0.3088265359401703]], [[0.3073295056819916]]], "std": [[[0.17409810423851013]], [[0.1748337596654892]], [[0.17347699403762817]]], "count": [1374]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3376840651035309]], [[0.33697590231895447]], [[0.3370009958744049]]], "std": [[[0.21435494720935822]], [[0.21438466012477875]], [[0.21439702808856964]]], "count": [1374]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6666666865348816]], [[0.6666666865348816]], [[0.6666666865348816]]], "mean": [[[0.004510474391281605]], [[0.004510474391281605]], [[0.004510474391281605]]], "std": [[[0.04275484383106232]], [[0.04275484383106232]], [[0.04275484383106232]]], "count": [1374]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.9960784316062927]], [[0.9960784316062927]], [[0.9960784316062927]]], "mean": [[[0.4743035137653351]], [[0.4743035137653351]], [[0.4743035137653351]]], "std": [[[0.1527530699968338]], [[0.1527530699968338]], [[0.1527530699968338]]], "count": [1374]}}}
+{"episode_index": 25, "stats": {"observation.state": {"min": [0.8469431400299072, -0.8244127035140991, 4.194478606223129e-06, 1.0672800540924072, -0.8485084176063538, -0.7700057625770569, 0.35568472743034363, 0.007665041368454695, -0.21525678038597107, -0.2059522569179535, -0.31980422139167786, 0.002318131970241666, 0.0032661131117492914, -0.00012118526501581073, 0.0033804024569690228, 0.0008380693034268916, 0.0036897705867886543, -0.000523991184309125, 0.0035222277510911226, 0.0008828549762256444, 0.0033372542820870876, 8.168959902832285e-05, 0.003035412635654211, 0.0008651180542074144, 0.006003584247082472, 0.0032285801135003567, 8.684120257385075e-05, 0.006537784822285175, 0.0008575798710808158, 0.5810526609420776, -1.051722764968872, 0.0002504703006707132, 1.2033755779266357, -1.6998820304870605, -0.7696672081947327, -0.4356776475906372, 0.0063910880126059055, -0.3213317096233368, -0.1739407330751419, -0.3164432644844055, 0.006874265149235725, 0.0031299637630581856, 8.684077329235151e-05, 0.003489253344014287, 0.0010070133721455932, 0.003261206904426217, -0.0010629466269165277, 0.0033882027491927147, 0.0013568740105256438, 0.003280831966549158, -0.00029707548674196005, 0.003527900669723749, 0.00122384715359658, 0.005834469571709633, 0.0033448589965701103, -0.00027745048282667994, 0.0032247493509203196, 0.0008584667230024934, 0.5619163513183594, -1.1070547103881836, 0.4915449619293213, -0.017065536230802536, -0.01629854552447796, -0.0655776783823967, -0.7958484292030334], "max": [1.0500117540359497, -0.5024986863136292, 0.33108052611351013, 1.5699864625930786, -3.235740678064758e-06, -0.2830473780632019, 0.5354083180427551, 1.2460566759109497, -6.432095688069239e-05, 0.5849661827087402, -0.002463954733684659, 0.8732125163078308, 1.2669459581375122, 0.2226971536874771, 0.2517155408859253, 0.09465349465608597, 1.359924554824829, 0.1970667839050293, 0.011346012353897095, 0.11735497415065765, 1.1574971675872803, 0.1715717911720276, 0.7085981369018555, 0.3137664794921875, 0.0584067702293396, 0.7307858467102051, 0.19491390883922577, 0.13379395008087158, 0.11934860050678253, 1.108931541442871, -0.41256532073020935, 0.7814255356788635, 1.8538286685943604, -0.0005440838285721838, 0.10929852724075317, 0.5195316076278687, 1.3284735679626465, 0.0012419740669429302, 0.540277898311615, 0.3125055432319641, 0.6258609294891357, 1.4613299369812012, 0.10244951397180557, 0.10735383629798889, 0.4801737666130066, 1.4667656421661377, 0.21266385912895203, 1.653355360031128, 1.2849880456924438, 1.4667819738388062, 0.27336907386779785, 1.6537014245986938, 0.9612162113189697, 0.13997694849967957, 1.468672275543213, 0.2093505859375, 1.6533905267715454, 1.308097004890442, 0.563066840171814, -1.1066712141036987, 0.5441796779632568, 0.0, 0.0031638352666050196, 0.07621967047452927, -0.5997864603996277], "mean": [0.95497727394104, -0.5759668946266174, 0.21459007263183594, 1.1784801483154297, -0.6974400281906128, -0.42318618297576904, 0.49856439232826233, 1.197643518447876, -0.17926530539989471, 0.4564798176288605, -0.30763494968414307, 0.7117856740951538, 1.198581337928772, 0.19809940457344055, 0.19042809307575226, 0.08818144351243973, 1.2753781080245972, 0.1735178381204605, 0.003777439473196864, 0.10248129069805145, 1.0611670017242432, 0.09213604778051376, 0.23084086179733276, 0.2845585346221924, 0.0551663413643837, 0.6814715266227722, 0.09446793049573898, 0.1110832616686821, 0.09633714705705643, 0.9261213541030884, -0.7396832704544067, 0.3595246970653534, 1.448923945426941, -1.1086363792419434, -0.22912070155143738, -0.1347966492176056, 1.2339284420013428, -0.24425268173217773, 0.2459205985069275, -0.08491995930671692, 0.5765528082847595, 1.2126864194869995, 0.0647968128323555, 0.09753170609474182, 0.41602423787117004, 1.4048153162002563, 0.16754546761512756, 1.3148729801177979, 1.113031268119812, 1.2945038080215454, 0.15767845511436462, 1.479661226272583, 0.8238230347633362, 0.11027278006076813, 1.4118753671646118, 0.11964801698923111, 1.340135097503662, 1.071253776550293, 0.5626828670501709, -1.1068503856658936, 0.49651190638542175, -0.010735359974205494, -0.003967389464378357, 0.012561103329062462, -0.6935868263244629], "std": [0.04078647121787071, 0.08642781525850296, 0.043350864201784134, 0.1427794098854065, 0.23081117868423462, 0.05605749785900116, 0.02478114888072014, 0.16185197234153748, 0.025552060455083847, 0.19505946338176727, 0.04136526584625244, 0.10150409489870071, 0.18400095403194427, 0.037722110748291016, 0.06748869270086288, 0.012679374776780605, 0.22418361902236938, 0.02669219672679901, 0.000997707131318748, 0.030639098957180977, 0.2259947955608368, 0.01751106046140194, 0.12427610903978348, 0.07097727060317993, 0.00923867430537939, 0.10449036210775375, 0.02256723679602146, 0.03651980683207512, 0.03245217725634575, 0.16689400374889374, 0.17225167155265808, 0.16324438154697418, 0.18328192830085754, 0.415756493806839, 0.19734779000282288, 0.18234901130199432, 0.16511376202106476, 0.06074206531047821, 0.21750204265117645, 0.183698832988739, 0.07964153587818146, 0.22399528324604034, 0.022407637909054756, 0.014322142116725445, 0.06794241815805435, 0.18886420130729675, 0.024286434054374695, 0.5984846353530884, 0.2293103188276291, 0.32126882672309875, 0.030618615448474884, 0.3778201639652252, 0.1703965663909912, 0.028541626408696175, 0.17947299778461456, 0.026501663029193878, 0.6094765067100525, 0.4823545813560486, 5.925634104642086e-05, 2.7767880965257064e-05, 0.006754480302333832, 0.00434059277176857, 0.005371010396629572, 0.034277625381946564, 0.0664215162396431], "count": [1411]}, "observation.state.joint_torque": {"min": [-40.81949996948242, -5.704500198364258, -21.256000518798828, -12.418999671936035, -0.5879999995231628, -0.7784000039100647, 1.1288000345230103, -1.4467272758483887, -0.5832756161689758, -1.728581190109253, -0.8686400055885315, -0.40178200602531433, -0.44135355949401855, -0.7963553667068481, -0.24903841316699982, -0.04281017929315567, -0.6351653337478638, -0.29743388295173645, -0.04150639846920967, -0.02497260272502899, -0.6025435328483582, -1.2271547317504883, -0.12949997186660767, -0.038529157638549805, -0.05805373936891556, -0.36555588245391846, -0.4519076347351074, -0.10791664570569992, -0.026399608701467514, 16.643999099731445, -2.0385000705718994, 6.940000057220459, -11.291999816894531, -1.80239999294281, -0.520799994468689, -3.8784000873565674, -1.4671037197113037, -0.8659986853599548, -2.105116367340088, -0.7394002676010132, -0.1959102302789688, -0.4835699796676636, -1.1331273317337036, -0.08467306196689606, -0.027826614677906036, -0.38762354850769043, -0.43463730812072754, -0.5694678425788879, -0.027826614677906036, -0.6236517429351807, -0.6092597842216492, -0.2291153371334076, -0.03638865053653717, -0.0809234008193016, -0.6745033264160156, -1.2089248895645142, -0.44826915860176086, -0.0834798514842987, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-19.144500732421875, 11.611499786376953, -8.104999542236328, -0.5600000023841858, 1.7599999904632568, 1.5679999589920044, 4.231200218200684, 1.9892498254776, 3.2997097969055176, 2.018127918243408, 1.3781425952911377, 0.35861530900001526, 2.142483711242676, 0.8855855464935303, 1.0559228658676147, 0.19621331989765167, 0.39433982968330383, 0.3972181975841522, 0.034865379333496094, 0.03496164828538895, 0.8328149318695068, 0.27536624670028687, 0.3088076114654541, 0.02497260272502899, 0.07652539014816284, 0.42216426134109497, 0.41352909803390503, 0.10957689583301544, 0.019264578819274902, 55.06650161743164, 12.543000221252441, 30.73699951171875, -0.3440000116825104, 0.015200000256299973, 2.7871999740600586, 0.7544000148773193, 1.702706217765808, 3.4308831691741943, 1.3607450723648071, 1.1097217798233032, 0.4150640070438385, 2.1434431076049805, 0.800193190574646, 1.0559228658676147, 0.21405088901519775, 0.46438068151474, 0.34252873063087463, 0.42834609746932983, 0.022832093760371208, 0.778125524520874, 1.2501819133758545, 0.15772433578968048, 0.02354559674859047, 0.4925771951675415, 0.41065073013305664, 0.29263660311698914, 0.26066020131111145, 0.03496164828538895, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-30.9373722076416, 1.6763569116592407, -14.080079078674316, -5.886747360229492, 0.055637139827013016, 0.7592625617980957, 1.7783758640289307, 0.4261048436164856, 0.856458306312561, 0.6799004673957825, 0.4610506296157837, 0.09354376047849655, 0.9701149463653564, 0.11516173928976059, 0.408193439245224, 0.09632571786642075, -0.009653781540691853, 0.03119320049881935, -0.0003706453717313707, 0.000978474854491651, 0.09166862070560455, -0.19769513607025146, -0.004344205372035503, 0.0007195744547061622, 0.0003388127952348441, 0.013707827776670456, 0.0028239949606359005, -8.589344361098483e-05, -0.0001365302741760388, 27.694307327270508, 4.136233329772949, 14.523412704467773, -6.3958330154418945, -0.6277695298194885, 1.1118545532226562, -1.1591309309005737, -0.001437859726138413, 0.41935867071151733, 0.1515236496925354, 0.06810037791728973, 0.04178405925631523, 0.3670072555541992, -0.09274367988109589, 0.15979743003845215, 0.04334766045212746, 0.00011763210932258517, -0.0001013203218462877, 0.0016367249190807343, 0.000573428813368082, -0.034577418118715286, 0.16137370467185974, 0.0024627349339425564, 0.0008353710290975869, 0.25057142972946167, 0.0005235953722149134, -0.17011141777038574, -0.0008542461437173188, -0.00021288804418873042, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.1254141330718994, 1.6191661357879639, 0.9300857186317444, 0.992832601070404, 0.3393150568008423, 0.47536346316337585, 0.3771760165691376, 0.6762901544570923, 0.7588036060333252, 0.5735412836074829, 0.481309711933136, 0.08714087307453156, 0.5793241858482361, 0.2791447341442108, 0.25267326831817627, 0.04986114799976349, 0.10251674056053162, 0.08090197294950485, 0.004985834937542677, 0.00529340049251914, 0.19310307502746582, 0.21058188378810883, 0.02165747620165348, 0.0073459576815366745, 0.006890378892421722, 0.07707825303077698, 0.06596514582633972, 0.01784244179725647, 0.0067920382134616375, 4.2648115158081055, 2.7728991508483887, 1.6072486639022827, 1.978625774383545, 0.2611701488494873, 0.6332524418830872, 0.6781882047653198, 0.36633118987083435, 0.7308012843132019, 0.3234252631664276, 0.2963540256023407, 0.08187340199947357, 0.6178802251815796, 0.3294125497341156, 0.2585477828979492, 0.06683279573917389, 0.07018761336803436, 0.0638105720281601, 0.0258388239890337, 0.005996268708258867, 0.13898438215255737, 0.26693567633628845, 0.01739526353776455, 0.007519778795540333, 0.18959274888038635, 0.13156697154045105, 0.24640214443206787, 0.024622555822134018, 0.005658835172653198, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1411]}, "observation.state.tcp": {"min": [0.3544352352619171, 0.14479470252990723, 1.0306812524795532, -1.2088580131530762, 1.1097086668014526, -1.682147741317749, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.28026607632637024, -0.29474344849586487, 0.9931673407554626, -0.18128402531147003, 1.082319736480713, 0.12446701526641846, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4324445426464081, 0.24821321666240692, 1.1350879669189453, -0.31232327222824097, 1.4248746633529663, -1.228911280632019, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.44625693559646606, -0.08790161460638046, 1.2374941110610962, 1.2085847854614258, 2.1146748065948486, 1.573343276977539, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4080786406993866, 0.17184442281723022, 1.073105812072754, -0.5262795686721802, 1.2512454986572266, -1.342234492301941, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3786678612232208, -0.2034546583890915, 1.1148601770401, 0.42189404368400574, 1.6248934268951416, 0.8674074411392212, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.022100171074271202, 0.01989053562283516, 0.017564689740538597, 0.25078144669532776, 0.049074336886405945, 0.1118168905377388, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05514202639460564, 0.059844207018613815, 0.07179887592792511, 0.408406138420105, 0.28884780406951904, 0.3952677249908447, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1411]}, "action": {"min": [0.8468661904335022, -0.8246279358863831, 1.9227834018310442e-18, 1.0672019720077515, -0.8484960794448853, -0.7699999809265137, 0.35568955540657043, 0.0, -0.21100765466690063, -0.21041317284107208, -0.3490658402442932, 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, 0.5810280442237854, -1.0523748397827148, 0.0013787116622552276, 1.2033591270446777, -1.6998684406280518, -0.7680010795593262, -0.43566104769706726, 0.0, -0.3483946919441223, -0.17637155950069427, -0.3299868702888489, 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, 0.5626833438873291, -1.1069231033325195, 0.49072685837745667, -0.017299531027674675, -0.017829114571213722, -0.0661856159567833, -0.7961443662643433], "max": [1.0499999523162842, -0.502410352230072, 0.33105728030204773, 1.5700000524520874, 6.518828014205343e-18, -0.2823910117149353, 0.5354499220848083, 1.2560425996780396, 0.0, 0.5983685851097107, 0.0, 0.8772260546684265, 1.2796499729156494, 0.22013705968856812, 0.25812798738479614, 0.09618058800697327, 1.3630763292312622, 0.196072518825531, 0.016527067869901657, 0.11906545609235764, 1.1587072610855103, 0.1723918318748474, 0.7315055727958679, 0.3171219229698181, 0.07398579269647598, 0.7398579120635986, 0.2014414668083191, 0.14080028235912323, 0.12068595737218857, 1.1088932752609253, -0.41255125403404236, 0.7818388342857361, 1.854074239730835, -0.0032434083987027407, 0.10947612673044205, 0.517270028591156, 1.3257431983947754, 0.0, 0.5440241694450378, 0.3490658402442932, 0.6291239261627197, 1.5629470348358154, 0.11371701210737228, 0.11213630437850952, 0.4817081689834595, 1.5707963705062866, 0.21774911880493164, 1.7453292608261108, 1.2894067764282227, 1.5707963705062866, 0.27641481161117554, 1.7453292608261108, 0.9659764766693115, 0.15906420350074768, 1.5707963705062866, 0.2119879126548767, 1.7453292608261108, 1.3962633609771729, 0.5627791881561279, -1.106863021850586, 0.5442397594451904, 2.1846607187543604e-18, 0.004037350416183472, 0.07626976072788239, -0.6000000238418579], "mean": [0.9549979567527771, -0.5760529041290283, 0.2145695686340332, 1.1785705089569092, -0.6974256038665771, -0.42321327328681946, 0.49857667088508606, 1.1990565061569214, -0.17322415113449097, 0.4624580144882202, -0.3400673568248749, 0.7159018516540527, 1.2060245275497437, 0.1991230696439743, 0.19473208487033844, 0.09149857610464096, 1.274991750717163, 0.17563959956169128, 0.0002988259366247803, 0.10574441403150558, 1.064422369003296, 0.089654840528965, 0.229853555560112, 0.2870156168937683, 0.06846710294485092, 0.6846720576286316, 0.09760638326406479, 0.11618540436029434, 0.09959054738283157, 0.9264228343963623, -0.7398742437362671, 0.3591412305831909, 1.4489221572875977, -1.1077090501785278, -0.22929318249225616, -0.13478535413742065, 1.2360349893569946, -0.2455310821533203, 0.24758940935134888, -0.08381844311952591, 0.5791183114051819, 1.2236006259918213, 0.06536469608545303, 0.10044465214014053, 0.4202621877193451, 1.4897414445877075, 0.16803406178951263, 1.3803354501724243, 1.1144800186157227, 1.3686902523040771, 0.1585090309381485, 1.5541383028030396, 0.8255067467689514, 0.12540550529956818, 1.5002609491348267, 0.11951170116662979, 1.4059938192367554, 1.134761095046997, 0.5627833604812622, -1.1068520545959473, 0.4965609610080719, -0.010782040655612946, -0.003981557674705982, 0.012580541893839836, -0.6936354041099548], "std": [0.0407734289765358, 0.08653342723846436, 0.043461207300424576, 0.1429971158504486, 0.23090891540050507, 0.05628962442278862, 0.024751871824264526, 0.17858195304870605, 0.027971047908067703, 0.19671764969825745, 0.052828092128038406, 0.11756408959627151, 0.20062291622161865, 0.03902436047792435, 0.0699683427810669, 0.014485713094472885, 0.2336062490940094, 0.029573921114206314, 0.002082898048684001, 0.03092610277235508, 0.23172667622566223, 0.01882302016019821, 0.13255523145198822, 0.07175468653440475, 0.011411279439926147, 0.11411277949810028, 0.02502167411148548, 0.03850696235895157, 0.03301309049129486, 0.1671212613582611, 0.17275743186473846, 0.16313768923282623, 0.18348194658756256, 0.4158346652984619, 0.19743193686008453, 0.18231454491615295, 0.18194054067134857, 0.07030048221349716, 0.21807393431663513, 0.18871618807315826, 0.09189578890800476, 0.24721407890319824, 0.023416871204972267, 0.016414549201726913, 0.07465148717164993, 0.23493129014968872, 0.027522170916199684, 0.6336910724639893, 0.23745658993721008, 0.36661630868911743, 0.03373504430055618, 0.41526350378990173, 0.1759195327758789, 0.033345479518175125, 0.22585508227348328, 0.028944971039891243, 0.6415122747421265, 0.5132264494895935, 1.6364399925805628e-05, 1.4341742826218251e-05, 0.0070231081917881966, 0.00436549074947834, 0.005406195763498545, 0.034332524985075, 0.06645917892456055], "count": [1411]}, "observation.state.tcp_pose": {"min": [0.3544352352619171, 0.14479470252990723, 1.0306812524795532, -1.2088580131530762, 1.1097086668014526, -1.682147741317749, 0.28026607632637024, -0.29474344849586487, 0.9931673407554626, -0.18128402531147003, 1.082319736480713, 0.12446701526641846], "max": [0.4324445426464081, 0.24821321666240692, 1.1350879669189453, -0.31232327222824097, 1.4248746633529663, -1.228911280632019, 0.44625693559646606, -0.08790161460638046, 1.2374941110610962, 1.2085847854614258, 2.1146748065948486, 1.573343276977539], "mean": [0.4080786406993866, 0.17184442281723022, 1.073105812072754, -0.5262795686721802, 1.2512454986572266, -1.342234492301941, 0.3786678612232208, -0.2034546583890915, 1.1148601770401, 0.42189404368400574, 1.6248934268951416, 0.8674074411392212], "std": [0.022100171074271202, 0.01989053562283516, 0.017564689740538597, 0.25078144669532776, 0.049074336886405945, 0.1118168905377388, 0.05514202639460564, 0.059844207018613815, 0.07179887592792511, 0.408406138420105, 0.28884780406951904, 0.3952677249908447], "count": [1411]}, "action.tcp_pose": {"min": [0.3546089828014374, 0.144797220826149, 1.0304954051971436, -1.208855390548706, 1.1073503494262695, -1.6823762655258179, 0.28033995628356934, -0.296757310628891, 0.9932122826576233, -0.18011105060577393, 1.0800343751907349, 0.12434305250644684], "max": [0.4326772391796112, 0.24912621080875397, 1.134954571723938, -0.31172072887420654, 1.4251803159713745, -1.2289544343948364, 0.44627153873443604, -0.08759895712137222, 1.2370103597640991, 1.2074992656707764, 2.114603042602539, 1.5882856845855713], "mean": [0.4081551134586334, 0.1718636304140091, 1.073041319847107, -0.5263798236846924, 1.2513154745101929, -1.3422256708145142, 0.37870073318481445, -0.2035239338874817, 1.1148300170898438, 0.42268529534339905, 1.625251293182373, 0.867499828338623], "std": [0.022175854071974754, 0.019922280684113503, 0.017591334879398346, 0.2508094906806946, 0.049087800085544586, 0.11180822551250458, 0.05528031662106514, 0.06020212173461914, 0.07189556211233139, 0.4086880385875702, 0.2891406714916229, 0.3950270116329193], "count": [1411]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.750531537916372], "std": [6.852613974671174], "count": [1411]}, "observation.tactile": {"min": [-10.63241958618164, -0.000946044921875, -0.00048828125, -0.2516813278198242, -0.040576934814453125, -0.1791062355041504, -0.5493030548095703, -0.00128173828125, -0.0062255859375, -0.2262411117553711, -0.009239673614501953, -0.010972976684570312, -0.07430458068847656, -0.01318359375, -0.01019287109375, -0.12677478790283203, -0.016557693481445312, -0.002660512924194336, -0.03582000732421875, -0.011688232421875, -0.00506591796875, -0.0034055709838867188, -0.0012712478637695312, -0.0006787776947021484, -0.00074005126953125, -0.00286865234375, -0.004150390625, -0.000213623046875, -0.0010418891906738281, -0.000331878662109375, -0.17331695556640625, -0.021453857421875, -0.00048828125, -0.3435945510864258, -0.024988651275634766, -0.013593912124633789, -6.395427703857422, -0.00982666015625, 0.0, -0.20609760284423828, -0.017580032348632812, -0.11546850204467773, -0.0290679931640625, -0.006103515625, -0.00665283203125, -0.00035762786865234375, -0.0014748573303222656, -0.0006330013275146484, -0.01937103271484375, -0.014434814453125, -0.0166015625, -0.000377655029296875, -0.0014257431030273438, -0.0007517337799072266, -0.0261077880859375, -0.00323486328125, -0.00787353515625, -9.5367431640625e-06, -0.001338958740234375, -0.0006222724914550781], "max": [0.22378158569335938, 10.247711181640625, 12.42498779296875, 0.001434326171875, 0.004756927490234375, 0.005734920501708984, 4.45118522644043, 8.134063720703125, 16.999755859375, 0.0006504058837890625, 0.010360240936279297, 0.06868553161621094, 3.9423580169677734, 6.6195068359375, 9.1656494140625, 0.0014896392822265625, 0.0039043426513671875, 0.06539559364318848, 0.5940017700195312, 0.073394775390625, 0.17828369140625, 0.0009822845458984375, 0.0042667388916015625, 0.0059468746185302734, 0.014560699462890625, 0.007598876953125, 0.004150390625, 0.0011463165283203125, 0.00011014938354492188, 2.6226043701171875e-06, 7.555686950683594, 21.672454833984375, 17.01666259765625, 0.001483917236328125, 0.035481929779052734, 0.13599562644958496, 0.5425605773925781, 10.008697509765625, 9.65289306640625, 0.0025701522827148438, 0.011777877807617188, 0.013964176177978516, 0.0404510498046875, 0.0210418701171875, 0.0260009765625, 0.001506805419921875, 0.00074005126953125, 0.00018262863159179688, 0.0959014892578125, 0.11627197265625, 0.063720703125, 0.0012989044189453125, 0.0005130767822265625, 0.00036716461181640625, 0.0158233642578125, 0.0235137939453125, 0.00506591796875, 0.0015430450439453125, 7.724761962890625e-05, 2.9325485229492188e-05], "mean": [-8.098135948181152, 7.388636112213135, 8.391451835632324, -0.1553286910057068, -0.021992946043610573, -0.14066869020462036, 2.1473422050476074, 3.645153045654297, 8.98274040222168, -0.1229144036769867, 0.004007602576166391, 0.03594597056508064, 0.06385134160518646, 0.11040543764829636, 0.1669723391532898, -0.0020057703368365765, -0.000800333684310317, 0.0006648735725320876, 0.009698519483208656, -0.0022121674846857786, 0.0019332485971972346, 4.1082341340370476e-05, -6.376978944899747e-07, 6.161540568427881e-06, 0.0027599050663411617, 0.002967688487842679, -0.00017345923697575927, 0.0005339346243999898, -0.00046480639139190316, -0.00014263868797570467, 1.5504063367843628, 3.074568271636963, 2.959141492843628, -0.06902628391981125, 2.102442886098288e-05, 0.029266871511936188, -1.1427290439605713, 1.4588725566864014, 2.1414804458618164, -0.04221339523792267, -0.0021932674571871758, -0.022582408040761948, 0.008772030472755432, 0.00043649220606312156, -0.0019621222745627165, 0.0006971440161578357, -0.0007328635547310114, -0.00034744921140372753, 0.00770057737827301, 0.0025138286873698235, -0.006660099141299725, 0.0006265660631470382, -0.0005644724587909877, -0.00022262769925873727, 0.00048084379523061216, 0.0013652993366122246, -0.0007313837413676083, 0.0006344630965031683, -0.0005146455368958414, -0.0002277012390550226], "std": [3.473104238510132, 3.214480400085449, 3.7376279830932617, 0.07053474336862564, 0.010942617431282997, 0.06020044535398483, 0.9199470281600952, 1.6623390913009644, 3.9040396213531494, 0.05328485369682312, 0.003829615656286478, 0.015328348614275455, 0.35744741559028625, 0.5994124412536621, 0.8967882394790649, 0.012305348180234432, 0.0015737841604277492, 0.005740722641348839, 0.06346499174833298, 0.005159992724657059, 0.014279420487582684, 0.0002936157980002463, 0.000520314380992204, 0.0007820829632692039, 0.0015392070636153221, 0.0013645242433995008, 0.0011409216094762087, 0.00014559435658156872, 0.00013274839147925377, 4.4520431401906535e-05, 2.0368871688842773, 4.6047773361206055, 4.0243024826049805, 0.09406626224517822, 0.005898863077163696, 0.039437636733055115, 1.5821024179458618, 1.9692068099975586, 2.8988819122314453, 0.05950033292174339, 0.004043763503432274, 0.03175724297761917, 0.008384272456169128, 0.001499438425526023, 0.001968630589544773, 0.0003720860986504704, 0.0003649241989478469, 0.00011416433699196205, 0.007337075192481279, 0.004199547693133354, 0.0043396297842264175, 0.00023481808602809906, 0.0002529556804802269, 8.866402640705928e-05, 0.0064329481683671474, 0.002385837724432349, 0.0021402749698609114, 0.00030392155167646706, 0.0002944947045762092, 0.00011046561849070713], "count": [1411]}, "timestamp": {"min": [0.0], "max": [47.0], "mean": [23.5], "std": [13.577350420624947], "count": [1411]}, "frame_index": {"min": [0], "max": [1410], "mean": [705.0], "std": [407.3205126187484], "count": [1411]}, "episode_index": {"min": [25], "max": [25], "mean": [25.0], "std": [0.0], "count": [1411]}, "index": {"min": [38518], "max": [39928], "mean": [39223.0], "std": [407.3205126187484], "count": [1411]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1411]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3365606665611267]], [[0.33579951524734497]], [[0.3355984389781952]]], "std": [[[0.2115604281425476]], [[0.21155115962028503]], [[0.2114832103252411]]], "count": [1411]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3062936067581177]], [[0.3080982267856598]], [[0.30654028058052063]]], "std": [[[0.17269936203956604]], [[0.17482775449752808]], [[0.17396028339862823]]], "count": [1411]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3084207773208618]], [[0.30736592411994934]], [[0.3057268559932709]]], "std": [[[0.17313171923160553]], [[0.1737438589334488]], [[0.17220649123191833]]], "count": [1411]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33491215109825134]], [[0.33417224884033203]], [[0.3341526687145233]]], "std": [[[0.21158863604068756]], [[0.21157212555408478]], [[0.2115422636270523]]], "count": [1411]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7176470756530762]], [[0.7176470756530762]], [[0.7176470756530762]]], "mean": [[[0.011684591881930828]], [[0.011684591881930828]], [[0.011684591881930828]]], "std": [[[0.07532195746898651]], [[0.07532195746898651]], [[0.07532195746898651]]], "count": [1411]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47319918870925903]], [[0.47319918870925903]], [[0.47319918870925903]]], "std": [[[0.1535155326128006]], [[0.1535155326128006]], [[0.1535155326128006]]], "count": [1411]}}}
+{"episode_index": 26, "stats": {"observation.state": {"min": [0.8526591062545776, -0.8354136347770691, 1.0785803397084237e-06, 1.0492849349975586, -0.7789027094841003, -0.7700005173683167, 0.370372474193573, 0.007628905586898327, -0.2233831137418747, -0.12068074941635132, -0.3172847628593445, 0.0026134829968214035, 0.003255564719438553, -0.00011161799193359911, 0.003411603858694434, 0.0008633443503640592, 0.0036129874642938375, -0.000469286140287295, 0.003536410164088011, 0.0008832984021864831, 0.003226372180506587, -6.132695489213802e-06, 0.003081505885347724, 0.0008589101489633322, 0.005890127271413803, 0.0032531116157770157, 0.00013418681919574738, 0.006547712720930576, 0.0008629009244032204, 0.44466134905815125, -1.0799851417541504, 0.0004170510219410062, 1.153857946395874, -1.814919352531433, -0.7695990800857544, -0.48173394799232483, 0.007695576176047325, -0.3184703290462494, -0.15875186026096344, -0.29268330335617065, 0.003354873973876238, 0.006199825555086136, -8.463349513476714e-05, 0.0034959898330271244, 0.0015165063086897135, 0.003203558037057519, -7.359994924627244e-07, 0.003394584869965911, 0.002224209252744913, 0.0028586462140083313, 0.0002642033505253494, 0.007123877294361591, 0.0017701442120596766, 0.0062379902228713036, 0.007967804558575153, 0.001277105649933219, 0.006816116627305746, 0.0008615707047283649, 0.5618204474449158, -1.107150673866272, 0.4916408360004425, -0.020229371264576912, -0.010066748596727848, -0.07621967047452927, -0.8065862655639648], "max": [1.0499993562698364, -0.47239524126052856, 0.36370912194252014, 1.6439359188079834, 1.7976337858272018e-06, -0.32448750734329224, 0.5619757771492004, 1.2316291332244873, -6.08882364758756e-05, 0.6346704959869385, -0.002377775963395834, 0.9031702280044556, 1.231003999710083, 0.22913400828838348, 0.26330018043518066, 0.09245678037405014, 1.3297584056854248, 0.1983107626438141, 0.030092459172010422, 0.13013973832130432, 1.0971790552139282, 0.1917353719472885, 0.8326959013938904, 0.2913900315761566, 0.058636900037527084, 0.7325614094734192, 0.22113847732543945, 0.1306365728378296, 0.11477779597043991, 1.2149977684020996, -0.48738718032836914, 0.6917279958724976, 1.915006160736084, -0.0006690793088637292, 0.14159350097179413, 0.5194340348243713, 1.3287675380706787, -7.570361049147323e-05, 0.525336742401123, 0.3130163848400116, 0.6222408413887024, 1.4666097164154053, 0.12940667569637299, 0.1080324649810791, 0.5033209323883057, 1.4666450023651123, 0.2685489058494568, 1.6533429622650146, 1.2062995433807373, 1.467013955116272, 0.314626008272171, 1.6561826467514038, 0.9415082931518555, 0.13877709209918976, 1.4701193571090698, 0.24854110181331635, 1.6534199714660645, 1.3080527782440186, 0.563066840171814, -1.1066712141036987, 0.5441796779632568, 0.0, 0.0070946612395346165, 0.06864564120769501, -0.5831044316291809], "mean": [0.9325130581855774, -0.5630629658699036, 0.22122447192668915, 1.1893706321716309, -0.6375753283500671, -0.41680708527565, 0.5258542895317078, 1.1816922426223755, -0.1776971071958542, 0.5202162861824036, -0.3082735240459442, 0.7248290181159973, 1.1771349906921387, 0.20831280946731567, 0.18630756437778473, 0.08814522624015808, 1.251855492591858, 0.17974510788917542, 0.004507826641201973, 0.11352207511663437, 1.0015524625778198, 0.1003957986831665, 0.3210700452327728, 0.26001015305519104, 0.05549924075603485, 0.6726240515708923, 0.09811227768659592, 0.10237893462181091, 0.08935649693012238, 0.9018730521202087, -0.7537956237792969, 0.38845881819725037, 1.4615737199783325, -1.1260610818862915, -0.23457083106040955, -0.14378070831298828, 1.2447861433029175, -0.2551880478858948, 0.2343882918357849, -0.09012898802757263, 0.5722286701202393, 1.222425103187561, 0.07287053018808365, 0.09703101217746735, 0.4242345690727234, 1.3871206045150757, 0.16700682044029236, 1.3694281578063965, 1.065219759941101, 1.2732816934585571, 0.16590525209903717, 1.4835937023162842, 0.822761595249176, 0.10883992910385132, 1.4178533554077148, 0.13174590468406677, 1.338597297668457, 1.0692514181137085, 0.5626830458641052, -1.1068519353866577, 0.4956095814704895, -0.015787631273269653, 4.924030872643925e-05, 0.003368459176272154, -0.6927880644798279], "std": [0.038132719695568085, 0.10122974216938019, 0.04492780566215515, 0.14966772496700287, 0.19728465378284454, 0.04795214533805847, 0.03442993015050888, 0.14783349633216858, 0.023919884115457535, 0.19925177097320557, 0.038987159729003906, 0.09994279593229294, 0.1642961949110031, 0.04015779122710228, 0.07052609324455261, 0.012136951088905334, 0.2107587307691574, 0.02573619782924652, 0.00404440937563777, 0.03702600672841072, 0.21560639142990112, 0.01868942566215992, 0.12342117726802826, 0.07050499320030212, 0.009099490009248257, 0.09779155999422073, 0.025622371584177017, 0.03476147726178169, 0.03145432844758034, 0.20620810985565186, 0.15786699950695038, 0.13642850518226624, 0.20289123058319092, 0.4406711161136627, 0.20848584175109863, 0.18871816992759705, 0.15658961236476898, 0.05279301479458809, 0.2188487946987152, 0.15657739341259003, 0.07555931061506271, 0.21108020842075348, 0.0289115272462368, 0.013440050184726715, 0.06970363110303879, 0.2182331532239914, 0.025996414944529533, 0.5729185938835144, 0.2007761001586914, 0.32847729325294495, 0.0367976650595665, 0.3803228735923767, 0.16335199773311615, 0.028383446857333183, 0.17099544405937195, 0.030880192294716835, 0.6140149831771851, 0.4871349036693573, 6.627533002756536e-05, 3.70796951756347e-05, 0.00621814513579011, 0.0038905469700694084, 0.004317017737776041, 0.03583482280373573, 0.07348373532295227], "count": [1400]}, "observation.state.joint_torque": {"min": [-43.39649963378906, -8.191499710083008, -20.791000366210938, -12.432000160217285, -0.5407999753952026, -1.0703999996185303, 0.5519999861717224, -1.404700756072998, -0.8265193700790405, -0.9084060788154602, -0.8487569689750671, -0.388499915599823, -0.3665153384208679, -0.7925174832344055, -0.24903841316699982, -0.04281017929315567, -0.38666409254074097, -0.3338935673236847, -0.06641025096178055, -0.022118592634797096, -0.6725844144821167, -1.4545477628707886, -0.1145576685667038, -0.03424813970923424, -0.07652539014816284, -0.39433982968330383, -0.4048939049243927, -0.13116022944450378, -0.02996712550520897, 13.208999633789062, -19.88249969482422, 3.0439999103546143, -16.573999404907227, -1.7568000555038452, -2.3968000411987305, -2.635999917984009, -1.5893622636795044, -0.8226987719535828, -0.6089178919792175, -0.72324538230896, -0.1062563955783844, -0.5670433640480042, -1.2079654932022095, -0.09463459998369217, -0.021405089646577835, -0.4567050039768219, -0.30606910586357117, -0.47317299246788025, -0.025686107575893402, -0.715760350227356, -0.5910300016403198, -0.503057599067688, -0.03710215538740158, -0.07432638853788376, -0.7272738814353943, -0.9230045676231384, -0.6923267841339111, -0.1412736028432846, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-17.072999954223633, 9.832500457763672, -6.952000141143799, 1.4170000553131104, 1.767199993133545, 1.4823999404907227, 4.8024001121521, 1.9905235767364502, 3.3608391284942627, 1.9472945928573608, 1.3657158613204956, 0.38351914286613464, 2.1405646800994873, 0.9325992465019226, 1.054262638092041, 0.20334836840629578, 0.499880850315094, 0.5622460246086121, 0.048147425055503845, 0.0321076326072216, 0.6745033860206604, 0.40393444895744324, 0.24571789801120758, 0.02497260272502899, 0.046179115772247314, 0.49796193838119507, 0.36555588245391846, 0.0979551151394844, 0.021405089646577835, 46.92449951171875, 26.239500045776367, 26.507999420166016, 4.25, 0.06719999760389328, 2.838399887084961, 0.9319999814033508, 2.0338234901428223, 2.8628897666931152, 1.5148385763168335, 1.227777361869812, 0.44826915860176086, 2.138645887374878, 0.9575454592704773, 1.0559228658676147, 0.21405088901519775, 0.8040310740470886, 0.30606910586357117, 0.11123716086149216, 0.027113113552331924, 1.0554107427597046, 1.2943172454833984, 0.2756025195121765, 0.027826614677906036, 0.49125784635543823, 0.680260181427002, 0.36171799898147583, 0.7006280422210693, 0.1526896357536316, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-30.650653839111328, 1.291542410850525, -13.918447494506836, -6.330647945404053, 0.10765419155359268, 0.6072534322738647, 1.8747748136520386, 0.5848171710968018, 0.9647712111473083, 0.47439780831336975, 0.3130219280719757, 0.10782062262296677, 1.0166691541671753, 0.27111923694610596, 0.3918939530849457, 0.09278487414121628, 0.023405399173498154, 0.03248753771185875, -0.00128551188390702, 0.003177134320139885, -0.03703466057777405, -0.17500007152557373, 0.0007257706602104008, 5.3005005611339584e-05, 0.00012094695557607338, -0.0006305070128291845, -0.0027372315526008606, 0.0014171508373692632, 0.001310296356678009, 27.191261291503906, 4.687431812286377, 14.49149227142334, -6.303563594818115, -0.669196367263794, 1.0542511940002441, -1.150147557258606, -0.012165839783847332, 0.36408695578575134, 0.13363245129585266, 0.08513041585683823, 0.033188510686159134, 0.26352840662002563, -0.0286941546946764, 0.12622930109500885, 0.031974609941244125, 0.009689915925264359, 0.010091494768857956, -0.0001245149614987895, 0.0014570774510502815, -0.02487684041261673, 0.10930429399013519, 0.0026504809502512217, -0.0004693820665124804, 0.14137330651283264, 0.0017345796804875135, -0.10137763619422913, -0.000128068815683946, 0.00019162653188686818, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.2492971420288086, 1.7210150957107544, 1.0270136594772339, 1.0841565132141113, 0.3401535749435425, 0.4424004852771759, 0.4070664346218109, 0.7171142101287842, 0.8376858830451965, 0.5479069352149963, 0.3708658516407013, 0.07988964021205902, 0.5541038513183594, 0.35314857959747314, 0.2458452731370926, 0.04710283875465393, 0.09933555871248245, 0.08192943036556244, 0.006371280178427696, 0.0074019646272063255, 0.1819194108247757, 0.22649402916431427, 0.020626947283744812, 0.00700421305373311, 0.006822009105235338, 0.08554239571094513, 0.0694974809885025, 0.016858026385307312, 0.007370964623987675, 4.691699981689453, 2.991302013397217, 1.8671135902404785, 2.055866003036499, 0.2574841380119324, 0.7096903324127197, 0.7229912281036377, 0.4504104256629944, 0.6658834218978882, 0.29658275842666626, 0.3158452808856964, 0.07775001227855682, 0.4737705588340759, 0.3382425904273987, 0.22307004034519196, 0.05178435891866684, 0.0790923610329628, 0.07567542791366577, 0.025815997272729874, 0.005529619287699461, 0.16190563142299652, 0.2229958474636078, 0.020260563120245934, 0.007253183517605066, 0.1277536004781723, 0.11437732726335526, 0.18336810171604156, 0.03824146091938019, 0.007831376045942307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1400]}, "observation.state.tcp": {"min": [0.336805135011673, 0.138512521982193, 1.033077597618103, -1.2088137865066528, 1.0639240741729736, -1.6814154386520386, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.26514101028442383, -0.2935856878757477, 0.995786190032959, -0.3088100254535675, 1.0493227243423462, 0.13109807670116425, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.44518741965293884, 0.25379127264022827, 1.1227972507476807, -0.4093417227268219, 1.3807148933410645, -1.2289843559265137, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4459378719329834, -0.07826002687215805, 1.2570189237594604, 1.208622932434082, 2.118847131729126, 1.415449857711792, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.40144452452659607, 0.16566166281700134, 1.0656616687774658, -0.591072678565979, 1.2330776453018188, -1.4033432006835938, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.37661054730415344, -0.20661884546279907, 1.1185411214828491, 0.42387712001800537, 1.6082199811935425, 0.841026246547699, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.02328420802950859, 0.0243220254778862, 0.014645762741565704, 0.21396464109420776, 0.045612893998622894, 0.0837683454155922, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.058653052896261215, 0.05825861543416977, 0.07567320764064789, 0.4510609805583954, 0.2730056047439575, 0.39237651228904724, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1400]}, "action": {"min": [0.8527145981788635, -0.8355289697647095, 0.0006392828072421253, 1.0504333972930908, -0.7788906693458557, -0.7688134908676147, 0.37219929695129395, 0.0, -0.22011572122573853, -0.12804806232452393, -0.3490658402442932, 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, 0.4446694850921631, -1.0812619924545288, 0.0015108048683032393, 1.1537725925445557, -1.8149187564849854, -0.7683587670326233, -0.48169267177581787, 0.0, -0.3483946919441223, -0.15940190851688385, -0.29451364278793335, 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, 0.5626833438873291, -1.1069231033325195, 0.491217702627182, -0.020867077633738518, -0.011317108757793903, -0.07673516124486923, -0.8067623972892761], "max": [1.0499389171600342, -0.4723774194717407, 0.36384662985801697, 1.6441457271575928, -0.0006264694966375828, -0.3240794837474823, 0.5619978308677673, 1.2428120374679565, 0.0, 0.6440333127975464, 0.0, 0.9094972014427185, 1.2431130409240723, 0.22982019186019897, 0.26676270365715027, 0.09572038799524307, 1.3355227708816528, 0.19846957921981812, 0.034932736307382584, 0.13129912316799164, 1.1015206575393677, 0.19070357084274292, 0.8377845883369446, 0.29602962732315063, 0.07437889277935028, 0.7437889575958252, 0.21860289573669434, 0.1374446451663971, 0.11769461631774902, 1.2156504392623901, -0.4873051941394806, 0.6919317841529846, 1.9152522087097168, -0.002499908208847046, 0.14167870581150055, 0.5178061127662659, 1.3310160636901855, 0.0, 0.5260957479476929, 0.3490658402442932, 0.6266310214996338, 1.5545098781585693, 0.13385051488876343, 0.1156775951385498, 0.5069040656089783, 1.5707963705062866, 0.27200454473495483, 1.7453292608261108, 1.2084413766860962, 1.5707963705062866, 0.33537715673446655, 1.7453292608261108, 0.9439737796783447, 0.153513103723526, 1.5707963705062866, 0.2504878044128418, 1.7453292608261108, 1.3962633609771729, 0.5627791881561279, -1.106863021850586, 0.5442397594451904, -1.1573312458873628e-18, 0.008138186298310757, 0.06880921125411987, -0.5817412734031677], "mean": [0.9325486421585083, -0.5632179379463196, 0.2212260216474533, 1.1895188093185425, -0.6375802159309387, -0.41691693663597107, 0.5258918404579163, 1.183770775794983, -0.17114867269992828, 0.5254473686218262, -0.3410937488079071, 0.7290772199630737, 1.185266137123108, 0.20913223922252655, 0.1901659071445465, 0.09069662541151047, 1.2529371976852417, 0.18329380452632904, 0.0011012584436684847, 0.11505026370286942, 1.001615047454834, 0.09946691989898682, 0.3239131271839142, 0.26203665137290955, 0.06765031814575195, 0.6765017509460449, 0.09943559020757675, 0.10707459598779678, 0.09177509695291519, 0.9025343656539917, -0.754241943359375, 0.38829565048217773, 1.4618195295333862, -1.1251662969589233, -0.23507261276245117, -0.1434221714735031, 1.2454029321670532, -0.25684767961502075, 0.23559080064296722, -0.08904104679822922, 0.5737152099609375, 1.2343670129776, 0.07304096966981888, 0.10048697143793106, 0.42633378505706787, 1.464616060256958, 0.1680549681186676, 1.4335262775421143, 1.0668240785598755, 1.3447458744049072, 0.16576148569583893, 1.554714322090149, 0.82455974817276, 0.12290549278259277, 1.5055716037750244, 0.1319466084241867, 1.4033457040786743, 1.1334118843078613, 0.5626837015151978, -1.1068520545959473, 0.49565765261650085, -0.01583409123122692, 4.0237671782961115e-05, 0.003375649219378829, -0.6928423643112183], "std": [0.03815986588597298, 0.10146880894899368, 0.04499237984418869, 0.15004286170005798, 0.1973142772912979, 0.04834171384572983, 0.03435518220067024, 0.16394273936748505, 0.026941845193505287, 0.20278820395469666, 0.05055670440196991, 0.11613398790359497, 0.17997969686985016, 0.04227102920413017, 0.0728643387556076, 0.013736622408032417, 0.22209924459457397, 0.02969452366232872, 0.005199671257287264, 0.037735264748334885, 0.2185218781232834, 0.020242951810359955, 0.12973909080028534, 0.07159347832202911, 0.010838046669960022, 0.1083805039525032, 0.02797481045126915, 0.03734815493226051, 0.03201303631067276, 0.20657968521118164, 0.15841051936149597, 0.13634145259857178, 0.20304818451404572, 0.4405539631843567, 0.20866447687149048, 0.18886426091194153, 0.1748775690793991, 0.06312793493270874, 0.21926862001419067, 0.16083268821239471, 0.08762538433074951, 0.23379270732402802, 0.02984648384153843, 0.015779919922351837, 0.07766879349946976, 0.25861209630966187, 0.030050339177250862, 0.6087048053741455, 0.21046705543994904, 0.37237095832824707, 0.0394742414355278, 0.42059701681137085, 0.16940581798553467, 0.03174416348338127, 0.21454641222953796, 0.033336639404296875, 0.6461217403411865, 0.5177181959152222, 6.150396075099707e-06, 1.3995138942846097e-05, 0.006580144166946411, 0.003949308302253485, 0.00436445465311408, 0.03591006621718407, 0.07355090975761414], "count": [1400]}, "observation.state.tcp_pose": {"min": [0.336805135011673, 0.138512521982193, 1.033077597618103, -1.2088137865066528, 1.0639240741729736, -1.6814154386520386, 0.26514101028442383, -0.2935856878757477, 0.995786190032959, -0.3088100254535675, 1.0493227243423462, 0.13109807670116425], "max": [0.44518741965293884, 0.25379127264022827, 1.1227972507476807, -0.4093417227268219, 1.3807148933410645, -1.2289843559265137, 0.4459378719329834, -0.07826002687215805, 1.2570189237594604, 1.208622932434082, 2.118847131729126, 1.415449857711792], "mean": [0.40144452452659607, 0.16566166281700134, 1.0656616687774658, -0.591072678565979, 1.2330776453018188, -1.4033432006835938, 0.37661054730415344, -0.20661884546279907, 1.1185411214828491, 0.42387712001800537, 1.6082199811935425, 0.841026246547699], "std": [0.02328420802950859, 0.0243220254778862, 0.014645762741565704, 0.21396464109420776, 0.045612893998622894, 0.0837683454155922, 0.058653052896261215, 0.05825861543416977, 0.07567320764064789, 0.4510609805583954, 0.2730056047439575, 0.39237651228904724], "count": [1400]}, "action.tcp_pose": {"min": [0.33723634481430054, 0.13816171884536743, 1.0330337285995483, -1.2085487842559814, 1.061944603919983, -1.681712031364441, 0.2650197446346283, -0.29489752650260925, 0.995839536190033, -0.309394508600235, 1.0441029071807861, 0.13083744049072266], "max": [0.4449670612812042, 0.2557322084903717, 1.123347520828247, -0.4095209836959839, 1.3800301551818848, -1.2294751405715942, 0.44566476345062256, -0.07842762023210526, 1.2585914134979248, 1.2067817449569702, 2.118994951248169, 1.4255549907684326], "mean": [0.4014381170272827, 0.16570749878883362, 1.0656683444976807, -0.5910615921020508, 1.2329761981964111, -1.403298258781433, 0.376592755317688, -0.2067352533340454, 1.118858814239502, 0.42409178614616394, 1.6074618101119995, 0.8412799835205078], "std": [0.023395961150527, 0.02443334273993969, 0.014682192355394363, 0.213913232088089, 0.04569894075393677, 0.08396925032138824, 0.058714814484119415, 0.05858166143298149, 0.07594748586416245, 0.45109328627586365, 0.27289682626724243, 0.39235982298851013], "count": [1400]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.467142857142857], "std": [6.995942118288927], "count": [1400]}, "observation.tactile": {"min": [-10.507904052734375, -0.004638671875, -0.00677490234375, -0.28592586517333984, -0.04372358322143555, -0.1871645450592041, -0.2101421356201172, -0.00079345703125, -0.00433349609375, -0.2247762680053711, -0.011658191680908203, -0.0018558502197265625, -0.7789840698242188, -0.012054443359375, -0.00732421875, -0.1054544448852539, -0.015250682830810547, -0.012784242630004883, -0.017757415771484375, -0.011383056640625, -0.00457763671875, -0.011197090148925781, -0.0032706260681152344, -0.0006144046783447266, -0.00189971923828125, -0.0031890869140625, -0.0035400390625, -1.71661376953125e-05, -0.0008358955383300781, -0.0002467632293701172, -0.20660400390625, -0.035186767578125, -0.00445556640625, -0.37677669525146484, -0.01893138885498047, -0.015520334243774414, -6.2396240234375, -0.01190185546875, -0.002197265625, -0.15625476837158203, -0.015051841735839844, -0.11844873428344727, -0.03315925598144531, -0.00628662109375, -0.00634765625, -0.0001697540283203125, -0.0014185905456542969, -0.0005664825439453125, -0.029033660888671875, -0.00701904296875, -0.00738525390625, -7.2479248046875e-05, -0.0013303756713867188, -0.0007963180541992188, -0.01459503173828125, -0.0040283203125, -0.00689697265625, -0.00037860870361328125, -0.0011005401611328125, -0.0005314350128173828], "max": [0.0147705078125, 11.450225830078125, 11.791259765625, 0.0006961822509765625, 0.004143238067626953, 5.1021575927734375e-05, 5.321962356567383, 7.579010009765625, 16.905517578125, 0.0032396316528320312, 0.014831066131591797, 0.08230209350585938, 3.3133010864257812, 5.350006103515625, 7.6854248046875, 0.0010356903076171875, 0.015816211700439453, 0.05203509330749512, 0.8720588684082031, 0.309967041015625, 0.77996826171875, 0.0012531280517578125, 0.006689548492431641, 0.0054852962493896484, 0.010288238525390625, 0.0061492919921875, 0.00439453125, 0.0009765625, 6.818771362304688e-05, 3.7670135498046875e-05, 10.53997802734375, 21.953826904296875, 15.5091552734375, 0.0024003982543945312, 0.06517505645751953, 0.18982481956481934, 1.6138916015625, 8.97705078125, 7.57427978515625, 0.007754325866699219, 0.023598670959472656, 0.032826900482177734, 0.025159835815429688, 0.018524169921875, 0.034912109375, 0.001537322998046875, 0.0003037452697753906, 0.0, 0.037097930908203125, 0.05889892578125, 0.01361083984375, 0.0014190673828125, 0.0, 0.0, 0.01544952392578125, 0.009735107421875, 0.00567626953125, 0.0009479522705078125, 0.00010824203491210938, 2.3365020751953125e-05], "mean": [-7.688924312591553, 7.586482048034668, 7.631254196166992, -0.1592738777399063, -0.025385508313775063, -0.13857336342334747, 2.6117265224456787, 3.466460943222046, 9.4244966506958, -0.11717869341373444, 0.0034311392810195684, 0.042309798300266266, 0.14459502696990967, 0.3031294345855713, 0.5812935829162598, -0.007282184902578592, -0.0008859150693751872, 0.0018327579600736499, 0.013785735704004765, -0.0015596444718539715, 0.00884432066231966, -1.2380054613458924e-05, 3.598417606553994e-06, -6.646973633905873e-05, 0.0009850937640294433, 0.0015140969771891832, 0.00018567766528576612, 0.00039177213329821825, -0.00027951342053711414, -9.176033199764788e-05, 1.6639280319213867, 2.4585297107696533, 2.5787274837493896, -0.05783259868621826, -0.0006846029427833855, 0.03106561116874218, -0.43824249505996704, 1.190720796585083, 1.5562630891799927, -0.02942120097577572, -0.0014718936290591955, -0.008542266674339771, 0.00036730358260683715, 0.0010613686172291636, -0.0010463605867698789, 0.0007737759151495993, -0.0006370898918248713, -0.0002852349716704339, 0.013824687339365482, 0.0034144592937082052, 0.0021781267132610083, 0.0007433700375258923, -0.0008394084870815277, -0.0003426979237701744, 0.0035858440678566694, 0.0009463282767683268, -0.0008623831672593951, 0.00024150371609721333, -0.00031017744913697243, -0.0001608884340384975], "std": [3.3489701747894287, 3.3860013484954834, 3.453695297241211, 0.07404086738824844, 0.012274526059627533, 0.059789497405290604, 1.1843318939208984, 1.7817256450653076, 4.2215166091918945, 0.05259023979306221, 0.004374272655695677, 0.018902575597167015, 0.36339372396469116, 0.5482972860336304, 0.8401994705200195, 0.011623287573456764, 0.0022372861858457327, 0.005459287203848362, 0.08196835964918137, 0.026050051674246788, 0.061248693615198135, 0.0006453893147408962, 0.0006149185937829316, 0.0006952366675250232, 0.0011961860582232475, 0.0014275015564635396, 0.0011610031360760331, 0.00013953549205325544, 0.00013457647582981735, 4.634022116078995e-05, 2.200591564178467, 4.020362854003906, 3.814363718032837, 0.08724557608366013, 0.0069667017087340355, 0.04151317849755287, 1.379751205444336, 1.703920602798462, 2.278428077697754, 0.04585302993655205, 0.0033300502691417933, 0.02710888907313347, 0.00886851642280817, 0.0019550323486328125, 0.0018469985807314515, 0.0003165471425745636, 0.00030743092065677047, 9.888866043183953e-05, 0.006634818855673075, 0.002325015142560005, 0.0026538425590842962, 0.0002368631394347176, 0.0001849277614383027, 8.130641799652949e-05, 0.0030990110244601965, 0.00107527372892946, 0.001963163958862424, 0.00026224946486763656, 0.0002717030583880842, 0.00010723522427724674], "count": [1400]}, "timestamp": {"min": [0.0], "max": [46.63333333333333], "mean": [23.316666666666666], "std": [13.471502844482083], "count": [1400]}, "frame_index": {"min": [0], "max": [1399], "mean": [699.5], "std": [404.1450853344625], "count": [1400]}, "episode_index": {"min": [26], "max": [26], "mean": [26.0], "std": [0.0], "count": [1400]}, "index": {"min": [39929], "max": [41328], "mean": [40628.5], "std": [404.1450853344625], "count": [1400]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1400]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3351104259490967]], [[0.3343566358089447]], [[0.33429571986198425]]], "std": [[[0.2100447565317154]], [[0.2100353091955185]], [[0.2100551873445511]]], "count": [1400]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3042949438095093]], [[0.3059007227420807]], [[0.3040089011192322]]], "std": [[[0.17100098729133606]], [[0.1730736494064331]], [[0.1720973253250122]]], "count": [1400]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30863773822784424]], [[0.3075549602508545]], [[0.30580803751945496]]], "std": [[[0.17302995920181274]], [[0.1736929714679718]], [[0.172019824385643]]], "count": [1400]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3326440751552582]], [[0.3318985104560852]], [[0.33202993869781494]]], "std": [[[0.2096763253211975]], [[0.20967736840248108]], [[0.20978163182735443]]], "count": [1400]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7137255072593689]], [[0.7137255072593689]], [[0.7137255072593689]]], "mean": [[[0.011301317252218723]], [[0.011301317252218723]], [[0.011301317252218723]]], "std": [[[0.07417954504489899]], [[0.07417954504489899]], [[0.07417954504489899]]], "count": [1400]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4727814197540283]], [[0.4727814197540283]], [[0.4727814197540283]]], "std": [[[0.1533334106206894]], [[0.1533334106206894]], [[0.1533334106206894]]], "count": [1400]}}}
+{"episode_index": 27, "stats": {"observation.state": {"min": [0.8614899516105652, -0.7810524106025696, 0.00011504856229294091, 1.0767790079116821, -0.7787108421325684, -0.7699208855628967, 0.35446783900260925, 0.007685458287596703, -0.21260353922843933, -0.22385165095329285, -0.3210933208465576, 0.0026528395246714354, 0.0031567031983286142, -0.000169266844750382, 0.003393166698515415, 0.0008655614801682532, 0.003964767791330814, -0.0007258846308104694, 0.0034942172933369875, 0.00085270224371925, 0.0031844235491007566, 2.9437791454256512e-05, 0.003038958180695772, 0.0008801944786682725, 0.006016428582370281, 0.0032575270161032677, 6.598944310098886e-05, 0.006534948479384184, 0.0008544759475626051, 0.3628755509853363, -1.0753320455551147, 0.0019364111358299851, 1.1253517866134644, -1.8412952423095703, -0.7678579092025757, -0.6123452186584473, 0.032328538596630096, -0.31344878673553467, -0.14076285064220428, -0.29851865768432617, 0.010853879153728485, 0.024672966450452805, 5.764945308328606e-05, 0.003493153490126133, 0.005494896788150072, 0.049562789499759674, 0.002092039445415139, 0.007148341741412878, 0.019939841702580452, 0.015677539631724358, 0.0016102424124255776, 0.019530385732650757, 0.010149063542485237, 0.01224585622549057, 0.09325667470693588, 0.0013720449060201645, 0.006845190655440092, 0.003463576314970851, 0.5618204474449158, -1.107150673866272, 0.48646366596221924, -0.025406556203961372, -0.007957525551319122, -0.07257646322250366, -0.8138726949691772], "max": [1.0499569177627563, -0.518017590045929, 0.314622700214386, 1.5699225664138794, -0.00010809770901687443, -0.29450273513793945, 0.587801992893219, 1.2341201305389404, -5.94429366174154e-05, 0.6043425798416138, -0.002384783932939172, 0.9177711009979248, 1.2724370956420898, 0.22626455128192902, 0.24797312915325165, 0.09023788571357727, 1.3669458627700806, 0.22810247540473938, 0.030071893706917763, 0.13793998956680298, 1.161198377609253, 0.17700548470020294, 0.8397775888442993, 0.31840336322784424, 0.06173448637127876, 0.7411221265792847, 0.2142932415008545, 0.06308843195438385, 0.054675374180078506, 1.137207269668579, -0.42468497157096863, 0.7282208204269409, 1.9128124713897705, -0.0022206769790500402, 0.2586791217327118, 0.5177760124206543, 1.3328348398208618, -0.0037927720695734024, 0.5768146514892578, 0.29275357723236084, 0.6304748058319092, 1.4650413990020752, 0.2016352415084839, 0.10645998269319534, 0.5128092765808105, 1.4665601253509521, 0.22516675293445587, 1.6533628702163696, 1.2571930885314941, 1.4681622982025146, 0.2747192978858948, 1.653726577758789, 0.9796696901321411, 0.14698560535907745, 1.466657042503357, 0.20552939176559448, 1.6534078121185303, 1.308044672012329, 0.563066840171814, -1.1066712141036987, 0.5433168411254883, -0.0003834952076431364, 0.007382282521575689, 0.04458131641149521, -0.582720935344696], "mean": [0.9535977840423584, -0.5812694430351257, 0.2043963521718979, 1.2100621461868286, -0.6485747694969177, -0.4691212773323059, 0.555225670337677, 1.186720609664917, -0.1826269030570984, 0.5013619065284729, -0.3102623224258423, 0.7270476818084717, 1.211611270904541, 0.20780672132968903, 0.17151762545108795, 0.08499395102262497, 1.298737645149231, 0.18062260746955872, 0.004447644110769033, 0.12277092784643173, 1.0716795921325684, 0.10749930888414383, 0.14271792769432068, 0.2827320694923401, 0.06030067056417465, 0.7015770673751831, 0.1345738023519516, 0.044525373727083206, 0.03859303891658783, 0.8622612953186035, -0.7151637673377991, 0.4315652847290039, 1.442051649093628, -1.0415199995040894, -0.26669782400131226, -0.07570994645357132, 1.2423195838928223, -0.2364097237586975, 0.24693140387535095, -0.13222455978393555, 0.5847319960594177, 1.275098443031311, 0.0864197239279747, 0.09587310999631882, 0.4232933521270752, 1.422080159187317, 0.16614937782287598, 1.3120081424713135, 1.130157709121704, 1.3240387439727783, 0.16194824874401093, 1.4950233697891235, 0.8785831928253174, 0.11320377886295319, 1.442964792251587, 0.12985600531101227, 1.388771891593933, 1.1113895177841187, 0.5626822710037231, -1.1068463325500488, 0.492039293050766, -0.01907530426979065, -0.0002680254983715713, 0.0025561442598700523, -0.688312828540802], "std": [0.03041081316769123, 0.07363516837358475, 0.04080886021256447, 0.10774613916873932, 0.16459527611732483, 0.057322267442941666, 0.036893174052238464, 0.13932494819164276, 0.021508192643523216, 0.17641383409500122, 0.03376937657594681, 0.09159360080957413, 0.1578121781349182, 0.03631473332643509, 0.057042092084884644, 0.009873864240944386, 0.19391028583049774, 0.02183472365140915, 0.004064972046762705, 0.03090239129960537, 0.20003367960453033, 0.01612313650548458, 0.1674855351448059, 0.06316213309764862, 0.0071651507169008255, 0.08979130536317825, 0.02319464087486267, 0.007774779573082924, 0.00790733564645052, 0.20066478848457336, 0.16571857035160065, 0.19167742133140564, 0.18945397436618805, 0.4428396224975586, 0.19996729493141174, 0.23129156231880188, 0.13941168785095215, 0.05350124090909958, 0.22185510396957397, 0.12797792255878448, 0.06867526471614838, 0.1807572990655899, 0.04418276622891426, 0.012015657499432564, 0.06316793709993362, 0.1636209934949875, 0.024249432608485222, 0.4743429720401764, 0.1802235245704651, 0.2725856900215149, 0.028198840096592903, 0.2960224449634552, 0.13865257799625397, 0.022984899580478668, 0.12950755655765533, 0.023252319544553757, 0.4571850299835205, 0.3474475145339966, 6.383332947734743e-05, 3.573924914235249e-05, 0.005933897104114294, 0.0042295451276004314, 0.0030868921894580126, 0.02946726232767105, 0.07427527755498886], "count": [1590]}, "observation.state.joint_torque": {"min": [-45.13349914550781, -7.932000160217285, -20.67799949645996, -11.123000144958496, -0.3319999873638153, -0.7703999876976013, 0.753600001335144, -1.4161626100540161, -0.8901957273483276, -0.8997073173522949, -0.8462716341018677, -0.39514094591140747, -0.36171799898147583, -0.9421939253807068, -0.2905448377132416, -0.04709119349718094, -0.4077723026275635, -0.3406098186969757, -0.08467306196689606, -0.03638865053653717, -0.6015840768814087, -0.886544942855835, -0.1062563955783844, -0.025686107575893402, -0.09807564318180084, -0.3713126480579376, -0.36747482419013977, -0.10791664570569992, -0.027826614677906036, 15.778499603271484, -11.116499900817871, 5.519000053405762, -12.906000137329102, -1.9503999948501587, -1.1615999937057495, -2.9528000354766846, -1.0277366638183594, -1.1016013622283936, -0.5940055847167969, -1.4837713241577148, -0.11123716086149216, -0.5113944411277771, -1.2991145849227905, -0.08301279693841934, -0.019978083670139313, -0.35883963108062744, -0.41352906823158264, -0.1494230479001999, -0.01855107769370079, -0.6965709924697876, -0.5104349851608276, -0.4150640070438385, -0.03068062849342823, -0.047498516738414764, -0.6121382117271423, -1.1906951665878296, -0.12285894900560379, -0.021405089646577835, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-20.596500396728516, 10.527000427246094, -7.484000205993652, -0.26499998569488525, 1.7776000499725342, 1.511199951171875, 4.236800193786621, 2.3101789951324463, 2.9010958671569824, 2.105116128921509, 1.3868415355682373, 0.47981399297714233, 2.141524314880371, 0.5334621071815491, 1.0559228658676147, 0.21405088901519775, 0.46534016728401184, 0.26673105359077454, 0.029884610325098038, 0.03496164828538895, 0.9028558731079102, 0.28112301230430603, 0.06973075866699219, 0.02497260272502899, 0.05497513338923454, 0.36363697052001953, 0.3502044379711151, 0.09297433495521545, 0.022832093760371208, 46.87799835205078, 24.39900016784668, 25.707000732421875, 2.492000102996826, 0.1128000020980835, 2.913599967956543, 1.0568000078201294, 2.694784164428711, 3.9237382411956787, 2.1784348487854004, 1.3309205770492554, 0.7437946796417236, 1.862320065498352, 0.42504265904426575, 1.054262638092041, 0.21405088901519775, 0.6447599530220032, 0.44135355949401855, 0.14278201758861542, 0.08490685373544693, 1.068843126296997, 1.0602079629898071, 0.5246409177780151, 0.033534638583660126, 0.49125784635543823, 0.2964744567871094, 0.2321903556585312, 0.4067627489566803, 0.08490685373544693, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-30.868417739868164, 1.3225589990615845, -14.35297679901123, -6.061418533325195, 0.11469995230436325, 0.6760234832763672, 1.8275076150894165, 0.7606576681137085, 0.9673394560813904, 0.7363601326942444, 0.4737885594367981, 0.14529329538345337, 0.8863101601600647, -0.1772662252187729, 0.4267934262752533, 0.1323375701904297, 0.0019092789152637124, 0.013588138855993748, -0.0013668397441506386, 0.0058754002675414085, 0.08029595762491226, -0.13212892413139343, -0.011073630303144455, 0.0032960299868136644, -0.000312287564156577, 0.007624372374266386, 0.010189023800194263, -0.0017876463243737817, -0.0012941767927259207, 27.393583297729492, 4.426094055175781, 14.042198181152344, -6.977224826812744, -0.6207717061042786, 0.8957503437995911, -1.227620005607605, 0.3192053437232971, 0.6615524291992188, 0.28031015396118164, 0.02634189836680889, 0.08045660704374313, 0.4253070056438446, -0.3222370743751526, 0.1754796952009201, 0.04669987037777901, -0.004203562159091234, -0.006147810723632574, 0.00045422278344631195, 0.0022410284727811813, 0.004801565315574408, 0.10955213755369186, 0.005338928662240505, 0.001167633687146008, 0.1660488247871399, -0.01989290490746498, -0.14432641863822937, -0.00047092055319808424, -0.00034867352223955095, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.161637306213379, 1.6906622648239136, 1.0211987495422363, 1.0207844972610474, 0.2761693298816681, 0.38269415497779846, 0.4311334788799286, 0.7913116812705994, 0.7932172417640686, 0.6540969610214233, 0.504210889339447, 0.1054048165678978, 0.515343964099884, 0.29865333437919617, 0.2688670754432678, 0.06348323076963425, 0.08296521008014679, 0.059180792421102524, 0.0075191170908510685, 0.007255001459270716, 0.1769903153181076, 0.18760579824447632, 0.018737349659204483, 0.0070024882443249226, 0.0069875773042440414, 0.07547075301408768, 0.06049323454499245, 0.01344938762485981, 0.006503244861960411, 4.402369976043701, 2.873816728591919, 1.9784349203109741, 2.2749342918395996, 0.31307336688041687, 0.728488564491272, 0.7457752227783203, 0.7012458443641663, 1.026875615119934, 0.47217050194740295, 0.39419230818748474, 0.13909371197223663, 0.5944503545761108, 0.4234292805194855, 0.2590496838092804, 0.06558443605899811, 0.07311264425516129, 0.05828991159796715, 0.030388185754418373, 0.00537670636549592, 0.1636742651462555, 0.22402766346931458, 0.026979485526680946, 0.007387131918221712, 0.13730524480342865, 0.08575258404016495, 0.20016658306121826, 0.026253489777445793, 0.004646077752113342, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1590]}, "observation.state.tcp": {"min": [0.3616180121898651, 0.14797931909561157, 1.038079857826233, -1.2085180282592773, 1.0638504028320312, -1.6330440044403076, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.27334660291671753, -0.3124796748161316, 0.9870390892028809, -0.3954811692237854, 1.0379718542099, 0.08546405285596848, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.43721985816955566, 0.2562873363494873, 1.136798620223999, -0.34398549795150757, 1.4483163356781006, -1.2295899391174316, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4539504051208496, -0.11022331565618515, 1.2555594444274902, 1.207047700881958, 2.198761463165283, 1.6900426149368286, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.40039271116256714, 0.1704099327325821, 1.0777181386947632, -0.5418415069580078, 1.1739438772201538, -1.3817046880722046, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.37665849924087524, -0.20054979622364044, 1.1146810054779053, 0.5066872835159302, 1.5340865850448608, 0.967966616153717, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.01652105338871479, 0.01732601225376129, 0.016835708171129227, 0.18768347799777985, 0.06538241356611252, 0.07194012403488159, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.054651420563459396, 0.05564045533537865, 0.06710619479417801, 0.4401015043258667, 0.32602038979530334, 0.4505790174007416, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1590]}, "action": {"min": [0.861458420753479, -0.7810766100883484, -3.211141400915302e-18, 1.0767079591751099, -0.7786989212036133, -0.7699999809265137, 0.3544355034828186, 0.0, -0.21522575616836548, -0.2277088612318039, -0.3490658402442932, 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, 0.3628878891468048, -1.076899766921997, 0.0030414441134780645, 1.1252880096435547, -1.8412843942642212, -0.7661257982254028, -0.6123955845832825, 0.0, -0.3365064263343811, -0.14252810180187225, -0.29978662729263306, 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, 0.5626833438873291, -1.1069231033325195, 0.48600873351097107, -0.025690341368317604, -0.008563426323235035, -0.07274158298969269, -0.8139042258262634], "max": [1.0499999523162842, -0.5177935361862183, 0.3146578073501587, 1.5700000524520874, -6.345661061689817e-18, -0.29373496770858765, 0.5879071354866028, 1.2501943111419678, 0.0, 0.6125004291534424, 0.0, 0.9258438944816589, 1.2824190855026245, 0.22742360830307007, 0.2550313472747803, 0.09284420311450958, 1.3769798278808594, 0.22895759344100952, 0.03634597733616829, 0.14237253367900848, 1.1642214059829712, 0.17737716436386108, 0.8465058207511902, 0.32228949666023254, 0.07473361492156982, 0.7473361492156982, 0.2184111475944519, 0.0675143152475357, 0.058214519172906876, 1.13815438747406, -0.4246794581413269, 0.7280767560005188, 1.9133634567260742, -0.0051155113615095615, 0.25912782549858093, 0.5154450535774231, 1.329482078552246, 0.0, 0.5781552195549011, 0.30038338899612427, 0.6368896961212158, 1.5623799562454224, 0.12215393036603928, 0.1091010645031929, 0.5150722861289978, 1.5707963705062866, 0.2255057692527771, 1.7453292608261108, 1.2613637447357178, 1.5707963705062866, 0.27507275342941284, 1.7453292608261108, 0.9825146198272705, 0.15303374826908112, 1.5707963705062866, 0.20941239595413208, 1.7453292608261108, 1.3962633609771729, 0.5627791881561279, -1.106863021850586, 0.5442397594451904, 5.582513353384526e-20, 0.008092639967799187, 0.044972747564315796, -0.5826164484024048], "mean": [0.9536656141281128, -0.5813317894935608, 0.20428285002708435, 1.2099719047546387, -0.6485990285873413, -0.469124436378479, 0.5553659796714783, 1.189350962638855, -0.17644353210926056, 0.5078523755073547, -0.3427216112613678, 0.7312321066856384, 1.218546748161316, 0.20770443975925446, 0.17553657293319702, 0.08919006586074829, 1.3016364574432373, 0.18365950882434845, 0.0009698289213702083, 0.12565094232559204, 1.0761823654174805, 0.10722839832305908, 0.14404654502868652, 0.28529614210128784, 0.07046769559383392, 0.7046766877174377, 0.13773146271705627, 0.04782259464263916, 0.04100216552615166, 0.8624425530433655, -0.7156378030776978, 0.4308930039405823, 1.4422249794006348, -1.0402768850326538, -0.26717764139175415, -0.07483232021331787, 1.2454657554626465, -0.23295295238494873, 0.24905796349048615, -0.1320984959602356, 0.5869382619857788, 1.2936314344406128, 0.07616910338401794, 0.09908080846071243, 0.42574211955070496, 1.5029250383377075, 0.16727104783058167, 1.3603254556655884, 1.1310439109802246, 1.399704933166504, 0.16347765922546387, 1.5618001222610474, 0.8797298073768616, 0.12653765082359314, 1.542847752571106, 0.1278550773859024, 1.4515866041183472, 1.1742912530899048, 0.5627862811088562, -1.1068470478057861, 0.492097944021225, -0.019118674099445343, -0.0002755745081230998, 0.0025643175467848778, -0.688369870185852], "std": [0.030498260632157326, 0.07367713004350662, 0.040968164801597595, 0.10773288458585739, 0.16476179659366608, 0.05752691254019737, 0.03648626059293747, 0.15850797295570374, 0.02449851855635643, 0.17607589066028595, 0.045113492757081985, 0.1081150695681572, 0.174758642911911, 0.03670233488082886, 0.05923277884721756, 0.011901537887752056, 0.20508961379528046, 0.026394091546535492, 0.004939269740134478, 0.03102302923798561, 0.20982331037521362, 0.019073734059929848, 0.17586204409599304, 0.06532494723796844, 0.009984580799937248, 0.09984585642814636, 0.027378728613257408, 0.009523332118988037, 0.008155283518135548, 0.20117506384849548, 0.16607561707496643, 0.19198112189769745, 0.1897423416376114, 0.44252556562423706, 0.19974841177463531, 0.23114390671253204, 0.15955850481987, 0.0591084361076355, 0.22189834713935852, 0.13156668841838837, 0.08127190917730331, 0.20931819081306458, 0.03092203103005886, 0.013754145242273808, 0.07151419669389725, 0.20359203219413757, 0.02747051790356636, 0.5120140314102173, 0.19391392171382904, 0.32043784856796265, 0.03168715536594391, 0.3407388925552368, 0.14812035858631134, 0.028454825282096863, 0.1702936738729477, 0.025114651769399643, 0.4992579221725464, 0.3872468173503876, 1.5665340470150113e-05, 1.7863754692371003e-05, 0.006302108988165855, 0.004303256515413523, 0.0031409566290676594, 0.029525384306907654, 0.07431982457637787], "count": [1590]}, "observation.state.tcp_pose": {"min": [0.3616180121898651, 0.14797931909561157, 1.038079857826233, -1.2085180282592773, 1.0638504028320312, -1.6330440044403076, 0.27334660291671753, -0.3124796748161316, 0.9870390892028809, -0.3954811692237854, 1.0379718542099, 0.08546405285596848], "max": [0.43721985816955566, 0.2562873363494873, 1.136798620223999, -0.34398549795150757, 1.4483163356781006, -1.2295899391174316, 0.4539504051208496, -0.11022331565618515, 1.2555594444274902, 1.207047700881958, 2.198761463165283, 1.6900426149368286], "mean": [0.40039271116256714, 0.1704099327325821, 1.0777181386947632, -0.5418415069580078, 1.1739438772201538, -1.3817046880722046, 0.37665849924087524, -0.20054979622364044, 1.1146810054779053, 0.5066872835159302, 1.5340865850448608, 0.967966616153717], "std": [0.01652105338871479, 0.01732601225376129, 0.016835708171129227, 0.18768347799777985, 0.06538241356611252, 0.07194012403488159, 0.054651420563459396, 0.05564045533537865, 0.06710619479417801, 0.4401015043258667, 0.32602038979530334, 0.4505790174007416], "count": [1590]}, "action.tcp_pose": {"min": [0.36095336079597473, 0.14799903333187103, 1.0380882024765015, -1.208855390548706, 1.0624291896820068, -1.633569359779358, 0.2723430097103119, -0.31072157621383667, 0.9870138764381409, -0.3955628573894501, 1.0337103605270386, 0.08545041084289551], "max": [0.4370858371257782, 0.25741681456565857, 1.1374071836471558, -0.3443335294723511, 1.4481927156448364, -1.2289544343948364, 0.4539681077003479, -0.11006106436252594, 1.2562907934188843, 1.2075706720352173, 2.1997361183166504, 1.6969090700149536], "mean": [0.40049391984939575, 0.17046600580215454, 1.0776315927505493, -0.5418050289154053, 1.1739695072174072, -1.3815759420394897, 0.3766447603702545, -0.20067548751831055, 1.11459481716156, 0.5073081254959106, 1.5339900255203247, 0.9686815142631531], "std": [0.016552450135350227, 0.017501140013337135, 0.016889307647943497, 0.18752096593379974, 0.06531703472137451, 0.07192585617303848, 0.05487601086497307, 0.055811844766139984, 0.06719688326120377, 0.4397070109844208, 0.3263900578022003, 0.4511007070541382], "count": [1590]}, "subtask_index": {"min": [0], "max": [21], "mean": [10.418867924528302], "std": [6.872835689620285], "count": [1590]}, "observation.tactile": {"min": [-9.281391143798828, -0.011932373046875, -0.000732421875, -0.2884244918823242, -0.04566001892089844, -0.18421125411987305, -0.14163589477539062, -0.002197265625, -0.0013427734375, -0.35448169708251953, -0.013165950775146484, -0.00333404541015625, -0.7900505065917969, -0.01092529296875, -0.00299072265625, -0.055624961853027344, -0.01613140106201172, -0.019394636154174805, -0.026287078857421875, -0.015899658203125, -0.0052490234375, -0.007832527160644531, -0.00562286376953125, -0.0006849765777587891, -0.0020046234130859375, -0.0037841796875, -0.00311279296875, 0.0, -0.0011363029479980469, -0.0002894401550292969, -5.5693817138671875, -0.0245361328125, -0.00213623046875, -0.3828573226928711, -0.03926277160644531, -0.1102914810180664, -8.18899917602539, -0.007781982421875, 0.0, -0.16125202178955078, -0.023662567138671875, -0.16056609153747559, -0.028833389282226562, -0.00750732421875, -0.00628662109375, -0.0002117156982421875, -0.0013070106506347656, -0.0005218982696533203, -0.03564453125, -0.002410888671875, -0.0155029296875, -0.0003528594970703125, -0.0032472610473632812, -0.0033812522888183594, -0.0053234100341796875, -0.003570556640625, -0.006591796875, -0.0001735687255859375, -0.0011992454528808594, -0.0005686283111572266], "max": [0.033000946044921875, 11.685089111328125, 11.5657958984375, 0.00089263916015625, 0.0024852752685546875, 0.0004508495330810547, 6.908168792724609, 11.953826904296875, 22.530029296875, 0.0025854110717773438, 0.033060550689697266, 0.10726737976074219, 2.159168243408203, 3.06500244140625, 3.2227783203125, 0.014573097229003906, 0.010304450988769531, 0.035155534744262695, 0.9558143615722656, 0.078155517578125, 0.186279296875, 0.0010051727294921875, 0.003993988037109375, 0.0071184635162353516, 0.016294479370117188, 0.0068817138671875, 0.00457763671875, 0.00124359130859375, 4.291534423828125e-05, 6.198883056640625e-06, 4.5517120361328125, 15.4534912109375, 15.02398681640625, 0.004742622375488281, 0.013013839721679688, 0.0935049057006836, 0.060420989990234375, 7.218475341796875, 7.76202392578125, 0.0008182525634765625, 0.006435394287109375, 0.010652780532836914, 0.03189659118652344, 0.0126800537109375, 0.0242919921875, 0.001590728759765625, 0.0006155967712402344, 5.91278076171875e-05, 0.1753387451171875, 0.276763916015625, 0.20135498046875, 0.0013751983642578125, 0.00030040740966796875, 0.0015759468078613281, 0.019556045532226562, 0.004486083984375, 0.02520751953125, 0.001239776611328125, 0.0002913475036621094, 0.00027179718017578125], "mean": [-7.006534576416016, 8.314665794372559, 7.696449279785156, -0.1831284761428833, -0.02647063508629799, -0.1401117444038391, 3.648869276046753, 4.227171897888184, 10.820598602294922, -0.16987448930740356, 0.003811855800449848, 0.05725352466106415, 0.2818473279476166, 0.2991006374359131, 0.8390124440193176, -0.015253638848662376, 0.001432701013982296, 0.003977773245424032, 0.014547535218298435, 0.0018113045953214169, 0.0034238803200423717, 6.002570080454461e-05, -0.0001672915677772835, 6.268527067732066e-05, 0.0021858527325093746, 0.0013510650023818016, 0.000920172140467912, 0.0005398072535172105, -0.00044212580542080104, -0.0001454718440072611, 0.3160720467567444, 3.6101555824279785, 4.285996913909912, -0.10364688187837601, -0.007593400310724974, 0.011577854864299297, -2.1409034729003906, 1.5602761507034302, 1.8808046579360962, -0.03422604501247406, -0.0022380489390343428, -0.04163898155093193, 0.0070730759762227535, -0.0007874686853028834, -0.0004877822066191584, 0.0006191061693243682, -0.00047627303865738213, -0.00024080846924334764, 0.010470914654433727, 0.006686171051114798, -0.00590177346020937, 0.0006920796586200595, -0.0007462153444066644, -0.00018412055214866996, 0.004262599162757397, -6.704270344926044e-05, -0.0012699151411652565, 0.0004014009318780154, -0.0003683498071040958, -0.00020748467068187892], "std": [3.123915433883667, 3.825695514678955, 3.568006753921509, 0.08583789318799973, 0.013619741424918175, 0.06208319216966629, 1.7067515850067139, 2.1743407249450684, 5.154088497161865, 0.07974141836166382, 0.004188796505331993, 0.026624394580721855, 0.4105311334133148, 0.3476921021938324, 0.5603004097938538, 0.010153133422136307, 0.002963799051940441, 0.007371381390839815, 0.10432465374469757, 0.007162576541304588, 0.020663896575570107, 0.0005744723603129387, 0.0005488651222549379, 0.0009985071374103427, 0.001617194851860404, 0.0014021247625350952, 0.0011864951811730862, 0.0001545151462778449, 0.0001452791184419766, 4.8655208956915885e-05, 1.439034104347229, 4.5934906005859375, 5.224313259124756, 0.12947772443294525, 0.011406530626118183, 0.031154874712228775, 2.5997893810272217, 1.9897381067276, 2.396069288253784, 0.0457005612552166, 0.004370581824332476, 0.050482675433158875, 0.007062815595418215, 0.0014003737596794963, 0.0020268557127565145, 0.0003614350571297109, 0.0003377969260327518, 0.0001082068556570448, 0.007936558686196804, 0.01129892561584711, 0.007586734835058451, 0.0002054420911008492, 0.00019580658408813179, 0.00012111162504879758, 0.0036103709135204554, 0.0008161526056937873, 0.0020750663243234158, 0.00031765952007845044, 0.0003138668544124812, 0.00012927380157634616], "count": [1590]}, "timestamp": {"min": [0.0], "max": [52.96666666666667], "mean": [26.483333333333334], "std": [15.299779107579976], "count": [1590]}, "frame_index": {"min": [0], "max": [1589], "mean": [794.5], "std": [458.9933732273993], "count": [1590]}, "episode_index": {"min": [27], "max": [27], "mean": [27.0], "std": [0.0], "count": [1590]}, "index": {"min": [41329], "max": [42918], "mean": [42123.5], "std": [458.9933732273993], "count": [1590]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1590]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3320528566837311]], [[0.3313136398792267]], [[0.3312802314758301]]], "std": [[[0.20756584405899048]], [[0.20756612718105316]], [[0.20755545794963837]]], "count": [1590]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30360785126686096]], [[0.30614522099494934]], [[0.3048844635486603]]], "std": [[[0.1712864488363266]], [[0.17385439574718475]], [[0.17301492393016815]]], "count": [1590]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3072725534439087]], [[0.3065509498119354]], [[0.3053840398788452]]], "std": [[[0.17311204969882965]], [[0.1740676462650299]], [[0.17274786531925201]]], "count": [1590]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.32766780257225037]], [[0.32697829604148865]], [[0.3271084725856781]]], "std": [[[0.2063514143228531]], [[0.2063627392053604]], [[0.20639069378376007]]], "count": [1590]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.800000011920929]], [[0.800000011920929]], [[0.800000011920929]]], "mean": [[[0.013522197492420673]], [[0.013522197492420673]], [[0.013522197492420673]]], "std": [[[0.08294463157653809]], [[0.08294463157653809]], [[0.08294463157653809]]], "count": [1590]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47308123111724854]], [[0.47308123111724854]], [[0.47308123111724854]]], "std": [[[0.15359866619110107]], [[0.15359866619110107]], [[0.15359866619110107]]], "count": [1590]}}}
+{"episode_index": 28, "stats": {"observation.state": {"min": [0.8801915049552917, -0.8090429306030273, 9.587379281583708e-07, 1.1052017211914062, -0.7348911166191101, -0.7700047492980957, 0.3389366567134857, 0.007661066018044949, -0.22759267687797546, -0.247028648853302, -0.31839582324028015, 0.0023571341298520565, 0.003196689300239086, -4.9308255256619304e-05, 0.0033431733027100563, 0.0008509285398758948, 0.0036831472534686327, -0.0004933268064633012, 0.0036661801859736443, 0.0008708825334906578, 0.003325724508613348, -0.002971478272229433, 0.0031038434244692326, 0.0008713259594514966, 0.0053346166387200356, 0.0032339771278202534, 0.00011554295633686706, 0.006537075620144606, 0.0008540325216017663, 0.24696265161037445, -1.121945858001709, 0.0005698499153368175, 1.163340449333191, -1.8593192100524902, -0.7695361375808716, -0.4665199816226959, 0.007728097960352898, -0.31977733969688416, -0.12434324622154236, -0.28831586241722107, 0.003133981255814433, 0.0031603826209902763, -0.0010258863912895322, 0.0035030811559408903, 0.0009067998034879565, 0.0032891726586967707, 2.6984675059793517e-05, 0.003375438740476966, 0.0011165388859808445, 0.0033007024321705103, -0.00018692936282604933, 0.0035264824982732534, 0.0008961576386354864, 0.010556846857070923, 0.0032908900175243616, -0.000264203263213858, 0.006802643183618784, 0.000866004906129092, 0.5619163513183594, -1.107150673866272, 0.47582167387008667, -0.03604855015873909, -0.009012137539684772, -0.135949045419693, -0.8616178631782532], "max": [1.0915038585662842, -0.5084006190299988, 0.34287452697753906, 1.5922919511795044, 8.388957439819933e-07, -0.3314628303050995, 0.5547459721565247, 1.232861876487732, -5.348058039089665e-05, 0.5700989961624146, -0.0024436884559690952, 0.8768190741539001, 1.2896229028701782, 0.23789763450622559, 0.1653730869293213, 0.09064406901597977, 1.3389209508895874, 0.2048928588628769, 0.0037183009553700686, 0.07314659655094147, 1.1415050029754639, 0.1433463990688324, 0.003155254991725087, 0.29066458344459534, 0.06167883053421974, 0.7272292971611023, 0.2409341186285019, 0.07886151969432831, 0.0686267837882042, 1.354923129081726, -0.3953595757484436, 0.8119917511940002, 1.9426403045654297, -0.0005549894412979484, 0.17054593563079834, 0.5194387435913086, 1.3477866649627686, -9.557834709994495e-05, 0.5629311800003052, 0.3140048682689667, 0.6260339021682739, 1.4670190811157227, 0.1307990849018097, 0.10960707813501358, 0.4940307140350342, 1.46668541431427, 0.20381976664066315, 1.6533429622650146, 1.2423503398895264, 1.4679925441741943, 0.24764490127563477, 1.6536798477172852, 0.9334384202957153, 0.1394246518611908, 1.468531608581543, 0.193230539560318, 1.653382420539856, 1.3080984354019165, 0.5631626844406128, -1.1066712141036987, 0.5441796779632568, 0.0, 0.006135923322290182, 0.07621967047452927, -0.5526165962219238], "mean": [0.966575562953949, -0.5932924747467041, 0.1753363162279129, 1.2079976797103882, -0.6317600011825562, -0.46372804045677185, 0.5169972777366638, 1.1791900396347046, -0.1769624948501587, 0.42985543608665466, -0.3081970512866974, 0.7557153105735779, 1.2185310125350952, 0.20631015300750732, 0.10786408931016922, 0.0844174474477768, 1.2578061819076538, 0.17561563849449158, 0.003694138489663601, 0.06108613684773445, 1.0720223188400269, 0.09539858251810074, 0.003130370983853936, 0.273223340511322, 0.057858582586050034, 0.6676363348960876, 0.11958374828100204, 0.0683792307972908, 0.057361871004104614, 0.929742693901062, -0.7418341040611267, 0.3664603531360626, 1.4583239555358887, -1.1640267372131348, -0.21807409822940826, -0.16456826031208038, 1.2479394674301147, -0.24110227823257446, 0.26111486554145813, -0.11417534947395325, 0.555048406124115, 1.2336560487747192, 0.07521722465753555, 0.09709611535072327, 0.4129753112792969, 1.4093061685562134, 0.1611035317182541, 1.40744149684906, 1.1481138467788696, 1.3168493509292603, 0.15856167674064636, 1.52847421169281, 0.8398575782775879, 0.11262321472167969, 1.4185203313827515, 0.11659421771764755, 1.4223679304122925, 1.1276931762695312, 0.5626837015151978, -1.106846809387207, 0.4918834865093231, -0.02144392766058445, -0.0006757904193364084, -0.007554385345429182, -0.7012056708335876], "std": [0.034250397235155106, 0.08017174899578094, 0.044014204293489456, 0.1236153095960617, 0.15413425862789154, 0.05041341111063957, 0.0380607508122921, 0.15454310178756714, 0.024421386420726776, 0.17463235557079315, 0.03941972181200981, 0.09799599647521973, 0.18072102963924408, 0.04719703644514084, 0.04254506155848503, 0.011383724398911, 0.21134594082832336, 0.02985936403274536, 7.734801329206675e-06, 0.020875439047813416, 0.1690325140953064, 0.020041055977344513, 7.1922922870726325e-06, 0.04341456666588783, 0.010433358140289783, 0.09836947172880173, 0.027285417541861534, 0.015019183047115803, 0.013615350238978863, 0.3078528940677643, 0.17200146615505219, 0.19783541560173035, 0.19006402790546417, 0.39839401841163635, 0.211847186088562, 0.17613689601421356, 0.16119053959846497, 0.056487441062927246, 0.2332250326871872, 0.14443516731262207, 0.07846160233020782, 0.220149964094162, 0.031024549156427383, 0.014098851941525936, 0.0782373920083046, 0.18623562157154083, 0.02555459924042225, 0.5377634167671204, 0.19864554703235626, 0.3300544321537018, 0.02823208086192608, 0.31761425733566284, 0.1566895842552185, 0.026176204904913902, 0.1785912662744522, 0.03021916188299656, 0.5439161658287048, 0.4280581772327423, 6.42010782030411e-05, 4.102718594367616e-05, 0.009652798995375633, 0.006020445376634598, 0.0036750398576259613, 0.05972244590520859, 0.09571715444326401], "count": [1561]}, "observation.state.joint_torque": {"min": [-44.80649948120117, -14.488499641418457, -23.04199981689453, -14.102999687194824, -0.4832000136375427, -1.7696000337600708, 0.8999999761581421, -1.1869276762008667, -0.7870399951934814, -0.9556283354759216, -0.8922511339187622, -0.3984614610671997, -0.3924208879470825, -0.5804758667945862, -0.26896145939826965, -0.046377696096897125, -0.4874078333377838, -0.3434881865978241, -0.0016602561809122562, -0.02354559674859047, -0.8136256337165833, -1.3307769298553467, -0.0, -0.027113113552331924, -0.08840001374483109, -0.3473260700702667, -0.5209891200065613, -0.10791664570569992, -0.02925362065434456, 5.583000183105469, -5.6504998207092285, -2.0480000972747803, -12.871999740600586, -1.851199984550476, -5.3024001121521, -3.3856000900268555, -1.2123981714248657, -0.9678809642791748, -0.7617686986923218, -0.9481721520423889, -0.22745507955551147, -0.5497730374336243, -1.1360056400299072, -0.07471152395009995, -0.02925362065434456, -0.3809073269367218, -0.3972181975841522, -0.11289741843938828, -0.02996712550520897, -0.5622460246086121, -0.5372999906539917, -0.0796922892332077, -0.032821137458086014, -0.07828459143638611, -0.8021121025085449, -1.1801409721374512, -0.469852477312088, -0.08847437053918839, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-14.130000114440918, 16.121999740600586, -5.5279998779296875, 4.135000228881836, 1.7128000259399414, 1.5743999481201172, 4.511199951171875, 1.8771796226501465, 1.9612324237823486, 1.7770459651947021, 1.1470023393630981, 0.4067627489566803, 1.7951574325561523, 0.9949644207954407, 0.899858832359314, 0.18765127658843994, 0.5123538970947266, 0.46534016728401184, 0.0016602561809122562, 0.019978083670139313, 0.8596799373626709, 0.24946068227291107, 0.0016602561809122562, 0.02497260272502899, 0.07960399985313416, 0.4384751617908478, 0.4730158746242523, 0.09629485011100769, 0.014983562752604485, 50.170501708984375, 15.271499633789062, 29.83799934387207, 1.569000005722046, 0.5127999782562256, 3.2607998847961426, 1.1504000425338745, 2.3076322078704834, 5.012604236602783, 2.2641804218292236, 1.658990502357483, 0.6773844957351685, 2.1405649185180664, 0.6697060465812683, 1.0575830936431885, 0.21405088901519775, 0.3789883852005005, 0.38762354850769043, 0.43000632524490356, 0.022118592634797096, 0.9671399593353271, 1.317344307899475, 0.37521788477897644, 0.020691584795713425, 0.49169760942459106, 0.5248269438743591, 0.3645963966846466, 0.3968012034893036, 0.07135029137134552, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-30.834182739257812, 1.372738003730774, -14.390007972717285, -5.789188385009766, 0.15876398980617523, 0.708081841468811, 1.835749864578247, -0.04690437763929367, 0.17276087403297424, 0.3404601514339447, 0.16329467296600342, 0.04521086439490318, 0.5118274688720703, 0.31832975149154663, 0.2418360710144043, 0.07653581351041794, -0.017449211329221725, 0.06263549625873566, 2.127170091625885e-06, -0.0004831346741411835, -0.0022729397751390934, -0.14797140657901764, 2.127170091625885e-06, -0.0018676314502954483, -0.00013664473954122514, 0.036333117634058, 0.019131503999233246, -0.00032758270390331745, -0.000710303254891187, 27.212190628051758, 4.652510166168213, 14.552899360656738, -5.8107590675354, -0.6340510845184326, 1.1404571533203125, -1.0682249069213867, 0.14880606532096863, 0.8192841410636902, 0.34823790192604065, 0.2664896249771118, 0.06420225650072098, 0.45233428478240967, -0.08433084189891815, 0.19448301196098328, 0.039607420563697815, 0.01958642527461052, 0.0018771212780848145, 0.0004818059678655118, 0.0003725202986970544, -0.0223085917532444, 0.17337295413017273, 0.0026653462555259466, -0.0009310749010182917, 0.2655944526195526, 0.02923201210796833, -0.14457184076309204, 0.0010167883010581136, 8.821710071060807e-05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.156306743621826, 1.792616844177246, 1.1503585577011108, 1.1637479066848755, 0.2757478952407837, 0.3921542465686798, 0.4321557879447937, 0.3735615313053131, 0.37279656529426575, 0.4266941249370575, 0.26100799441337585, 0.06212971359491348, 0.3222711980342865, 0.2719571590423584, 0.16480033099651337, 0.04104860872030258, 0.1130814328789711, 0.09769599884748459, 0.00015721457020845264, 0.003777109319344163, 0.17437994480133057, 0.20858529210090637, 5.93896365899127e-05, 0.00664537213742733, 0.007383624091744423, 0.08175242692232132, 0.08212388306856155, 0.016463523730635643, 0.0062869819812476635, 5.62145471572876, 3.548153877258301, 2.3729217052459717, 2.6250202655792236, 0.3089256286621094, 0.8303045034408569, 0.7191847562789917, 0.5236354470252991, 1.4887123107910156, 0.6145550608634949, 0.48510411381721497, 0.12077836692333221, 0.7256214022636414, 0.2978269159793854, 0.3278815746307373, 0.05779842287302017, 0.06760287284851074, 0.05493571236729622, 0.02314774878323078, 0.006481984630227089, 0.1331392377614975, 0.2899393141269684, 0.019804762676358223, 0.006905337329953909, 0.1932212859392166, 0.11147154867649078, 0.24836452305316925, 0.02684452012181282, 0.0056315879337489605, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1561]}, "observation.state.tcp": {"min": [0.35207730531692505, 0.14559997618198395, 1.0394253730773926, -1.208857536315918, 1.06844961643219, -1.611318826675415, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25541627407073975, -0.3017178773880005, 0.9855305552482605, -0.33550846576690674, 1.0615133047103882, 0.11853443831205368, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.43210625648498535, 0.24143479764461517, 1.1575219631195068, -0.4070505201816559, 1.38547682762146, -1.2289146184921265, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4552593231201172, -0.07952550798654556, 1.2663030624389648, 1.2087557315826416, 2.093000650405884, 1.4908026456832886, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.40147387981414795, 0.17569084465503693, 1.0717443227767944, -0.5679279565811157, 1.2249665260314941, -1.3530761003494263, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3745477795600891, -0.1988525539636612, 1.1295815706253052, 0.3531589210033417, 1.6294496059417725, 0.8039469718933105, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.017899833619594574, 0.01955859735608101, 0.018254337832331657, 0.1756480634212494, 0.04204713925719261, 0.06825023889541626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.060702133923769, 0.06891074776649475, 0.08764112740755081, 0.4362003207206726, 0.24270173907279968, 0.35972994565963745, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1561]}, "action": {"min": [0.8802307844161987, -0.8090626001358032, -3.115532432916881e-17, 1.1049144268035889, -0.7348839044570923, -0.7699999809265137, 0.33741381764411926, 0.0, -0.2241421341896057, -0.2548123002052307, -0.3490658402442932, 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, 0.24697467684745789, -1.123619794845581, 0.0011045212158933282, 1.1633025407791138, -1.8593089580535889, -0.7688443660736084, -0.46674761176109314, 0.0, -0.348874032497406, -0.12699656188488007, -0.2908703684806824, 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, 0.5626833438873291, -1.1069231033325195, 0.47449955344200134, -0.03681473061442375, -0.009435887448489666, -0.1360485851764679, -0.8618022203445435], "max": [1.092158317565918, -0.5084073543548584, 0.3428499400615692, 1.592325210571289, -5.226271349729343e-19, -0.3306316137313843, 0.5547726154327393, 1.2379224300384521, 0.0, 0.5773818492889404, 0.0, 0.8828158378601074, 1.2978049516677856, 0.23777765035629272, 0.1730707436800003, 0.0924990177154541, 1.349906325340271, 0.20613950490951538, 0.0, 0.07793567329645157, 1.1466782093048096, 0.14756053686141968, 0.0, 0.2953967750072479, 0.07366941124200821, 0.7366940975189209, 0.2461186647415161, 0.08576865494251251, 0.07340097427368164, 1.3549091815948486, -0.39533206820487976, 0.8125668168067932, 1.9429409503936768, -0.0017266508657485247, 0.1705448478460312, 0.5182791352272034, 1.3493280410766602, 0.0, 0.58831787109375, 0.3490658402442932, 0.6340134143829346, 1.5707963705062866, 0.13969892263412476, 0.1140654906630516, 0.4967794716358185, 1.5707963705062866, 0.20527642965316772, 1.7453292608261108, 1.2445378303527832, 1.5707963705062866, 0.24928253889083862, 1.7453292608261108, 0.9367833137512207, 0.15140388906002045, 1.5707963705062866, 0.19885295629501343, 1.7453292608261108, 1.3962633609771729, 0.5627790093421936, -1.106863021850586, 0.5442397594451904, -1.1788676169182169e-18, 0.0066367583349347115, 0.07631227374076843, -0.5503467321395874], "mean": [0.9666464924812317, -0.5933306813240051, 0.17531538009643555, 1.2081197500228882, -0.6317959427833557, -0.4637453854084015, 0.5169820785522461, 1.1758288145065308, -0.17403531074523926, 0.4345775544643402, -0.3398027718067169, 0.7595289945602417, 1.2247954607009888, 0.20771600306034088, 0.11144785583019257, 0.08810418099164963, 1.260754942893982, 0.17823882400989532, 0.0, 0.06261913478374481, 1.0738558769226074, 0.09426002204418182, 0.0, 0.27524539828300476, 0.06736746430397034, 0.6736735105514526, 0.11905822902917862, 0.06999600678682327, 0.06000055372714996, 0.9305804371833801, -0.742134690284729, 0.3661120533943176, 1.4582575559616089, -1.1633251905441284, -0.2184745967388153, -0.16453617811203003, 1.2503302097320557, -0.24225066602230072, 0.2656373381614685, -0.11029817909002304, 0.5581980347633362, 1.2549006938934326, 0.07507765293121338, 0.09959211945533752, 0.4156222641468048, 1.5012001991271973, 0.16306746006011963, 1.4722744226455688, 1.1501238346099854, 1.39559006690979, 0.15780109167099, 1.6064181327819824, 0.8417307734489441, 0.1279119849205017, 1.5124084949493408, 0.11633981764316559, 1.493859052658081, 1.2021820545196533, 0.5626835227012634, -1.106848120689392, 0.4919373393058777, -0.021488234400749207, -0.0006712338072247803, -0.0075348904356360435, -0.7012519240379333], "std": [0.0342843271791935, 0.08026853203773499, 0.044133882969617844, 0.1238909512758255, 0.15419946610927582, 0.050514012575149536, 0.038129448890686035, 0.1678253710269928, 0.026855817064642906, 0.17892791330814362, 0.049319181591272354, 0.11201681941747665, 0.1924559623003006, 0.047989651560783386, 0.04498995095491409, 0.012899980880320072, 0.21858762204647064, 0.032533008605241776, 0.0, 0.02186797372996807, 0.17695946991443634, 0.021084913983941078, 0.0, 0.045464109629392624, 0.010609532706439495, 0.10609536617994308, 0.0298136156052351, 0.016508357599377632, 0.01414085365831852, 0.30850061774253845, 0.17226701974868774, 0.19809222221374512, 0.1902025192975998, 0.39848801493644714, 0.2118261754512787, 0.17629431188106537, 0.17588284611701965, 0.06690359860658646, 0.2379869967699051, 0.14846481382846832, 0.08800137042999268, 0.24625356495380402, 0.031867098063230515, 0.015576598234474659, 0.0837751105427742, 0.22530746459960938, 0.028399357572197914, 0.5666740536689758, 0.20572862029075623, 0.36796846985816956, 0.03015865385532379, 0.3528473973274231, 0.16094084084033966, 0.030202509835362434, 0.2158096432685852, 0.03195301070809364, 0.5743349194526672, 0.4587150514125824, 5.6175608733610716e-06, 1.7450758605264127e-05, 0.009893224574625492, 0.006073261611163616, 0.003735142992809415, 0.05980096757411957, 0.09577654302120209], "count": [1561]}, "observation.state.tcp_pose": {"min": [0.35207730531692505, 0.14559997618198395, 1.0394253730773926, -1.208857536315918, 1.06844961643219, -1.611318826675415, 0.25541627407073975, -0.3017178773880005, 0.9855305552482605, -0.33550846576690674, 1.0615133047103882, 0.11853443831205368], "max": [0.43210625648498535, 0.24143479764461517, 1.1575219631195068, -0.4070505201816559, 1.38547682762146, -1.2289146184921265, 0.4552593231201172, -0.07952550798654556, 1.2663030624389648, 1.2087557315826416, 2.093000650405884, 1.4908026456832886], "mean": [0.40147387981414795, 0.17569084465503693, 1.0717443227767944, -0.5679279565811157, 1.2249665260314941, -1.3530761003494263, 0.3745477795600891, -0.1988525539636612, 1.1295815706253052, 0.3531589210033417, 1.6294496059417725, 0.8039469718933105], "std": [0.017899833619594574, 0.01955859735608101, 0.018254337832331657, 0.1756480634212494, 0.04204713925719261, 0.06825023889541626, 0.060702133923769, 0.06891074776649475, 0.08764112740755081, 0.4362003207206726, 0.24270173907279968, 0.35972994565963745], "count": [1561]}, "action.tcp_pose": {"min": [0.3522321581840515, 0.1456247717142105, 1.0392342805862427, -1.208855390548706, 1.067441701889038, -1.6123713254928589, 0.25602322816848755, -0.30205512046813965, 0.9855656623840332, -0.3346516191959381, 1.0553126335144043, 0.11789465695619583], "max": [0.4322777986526489, 0.24175022542476654, 1.157558560371399, -0.40700703859329224, 1.3847099542617798, -1.2289544343948364, 0.4549718201160431, -0.0797068178653717, 1.267795205116272, 1.2072691917419434, 2.0931999683380127, 1.499389886856079], "mean": [0.4014757573604584, 0.1756771057844162, 1.0717535018920898, -0.5678724050521851, 1.2249842882156372, -1.3531407117843628, 0.37461286783218384, -0.19899536669254303, 1.1298842430114746, 0.3532538115978241, 1.628867506980896, 0.8037310838699341], "std": [0.0179930180311203, 0.019525030627846718, 0.018306611105799675, 0.17568735778331757, 0.04203528165817261, 0.06822878867387772, 0.06080612912774086, 0.06920049339532852, 0.08778499066829681, 0.4361490309238434, 0.24213086068630219, 0.3602365553379059], "count": [1561]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.903267136450992], "std": [6.839628720644231], "count": [1561]}, "observation.tactile": {"min": [-9.664119720458984, -0.0103759765625, 0.0, -0.249359130859375, -0.02971363067626953, -0.16993021965026855, -2.369638442993164, -0.001434326171875, -0.00286865234375, -0.2950925827026367, -0.007684230804443359, -0.04763436317443848, -0.02508544921875, -0.001983642578125, -0.0068359375, -0.000431060791015625, -0.0018434524536132812, -0.0003383159637451172, -0.019329071044921875, -0.0057373046875, -0.00469970703125, -0.0003662109375, -0.0008192062377929688, -0.00039196014404296875, -0.001384735107421875, -0.0015716552734375, -0.003173828125, -9.72747802734375e-05, -0.0012469291687011719, -0.0003495216369628906, -0.12920761108398438, -0.014617919921875, -0.07098388671875, -0.40224742889404297, -0.02420806884765625, -0.0065305233001708984, -6.942192077636719, -0.006500244140625, 0.0, -0.2491922378540039, -0.021661758422851562, -0.12797880172729492, -0.026117324829101562, -0.0052490234375, -0.00341796875, -0.00032520294189453125, -0.0011219978332519531, -0.0004646778106689453, -0.0250091552734375, -0.00616455078125, -0.0179443359375, -0.00044536590576171875, -0.0014543533325195312, -0.0004892349243164062, -0.016252517700195312, -0.004730224609375, -0.00579833984375, -0.00029659271240234375, -0.002208232879638672, -0.0006756782531738281], "max": [0.018711090087890625, 10.01318359375, 10.1358642578125, 0.0008001327514648438, 0.0031614303588867188, 0.0002918243408203125, 6.040517807006836, 8.188140869140625, 19.20245361328125, 0.000652313232421875, 0.019815921783447266, 0.10034537315368652, 0.0704193115234375, 0.173095703125, 0.0897216796875, 0.0004673004150390625, 7.009506225585938e-05, 7.2479248046875e-05, 0.012516021728515625, 0.0063018798828125, 0.00640869140625, 0.0006580352783203125, 0.0001430511474609375, 2.574920654296875e-05, 0.019138336181640625, 0.009613037109375, 0.00445556640625, 0.001399993896484375, 3.7670135498046875e-05, 9.5367431640625e-06, 9.524478912353516, 20.5941162109375, 17.96966552734375, 0.004601478576660156, 0.03668975830078125, 0.18151116371154785, 1.1847610473632812, 11.31256103515625, 12.614013671875, 0.0038785934448242188, 0.0053615570068359375, 0.025707721710205078, 0.024633407592773438, 0.022430419921875, 0.0089111328125, 0.0010585784912109375, 0.00024080276489257812, 1.239776611328125e-05, 0.1490936279296875, 0.210662841796875, 0.09112548828125, 0.0019617080688476562, 0.0002593994140625, 0.0002677440643310547, 0.017148971557617188, 0.1092529296875, 0.0390625, 0.001003265380859375, 0.0004410743713378906, 0.00035071372985839844], "mean": [-4.92448616027832, 4.378839492797852, 4.359694480895996, -0.0992380678653717, -0.0033238513860851526, -0.11170154064893723, 2.0844457149505615, 2.1737983226776123, 5.982942581176758, -0.09369313716888428, 0.005916096735745668, 0.031795114278793335, -0.004086852073669434, 0.0007885402301326394, -0.0003727797302417457, -9.281126403948292e-05, -0.00011853114847326651, -8.996047836262733e-05, -0.0009921988239511847, 0.0004593081248458475, 0.0010847131488844752, 7.301320874830708e-05, -0.0001586871949257329, -0.00011131917563034222, 0.0026491850148886442, 0.0034409009385854006, 0.00022728850308340043, 0.0005598318530246615, -0.0005186164635233581, -0.00016638226225040853, 2.2313318252563477, 3.036715030670166, 3.431011915206909, -0.08333102613687515, 0.00028198014479130507, 0.04340951517224312, -0.9349323511123657, 2.06581711769104, 2.515021562576294, -0.043030746281147, -0.00267757847905159, -0.016054144129157066, 0.004435472656041384, 0.000301480817142874, 0.0018972120014950633, 0.00031311187194660306, -0.00029460014775395393, -0.0001911754225147888, 0.007863332517445087, 0.002605078974738717, -0.007931715808808804, 0.0005817009950987995, -0.0006332208286039531, -0.00023311044787988067, 0.0013809435768052936, -0.00028265416040085256, 0.0009934536647051573, 0.000140213334816508, -0.00013885980297345668, -0.00014947920863050967], "std": [2.0255603790283203, 1.9021741151809692, 1.901252031326294, 0.044881608337163925, 0.004786692559719086, 0.045164115726947784, 1.0552750825881958, 1.1510958671569824, 2.9540584087371826, 0.04543023928999901, 0.00326151424087584, 0.01756291091442108, 0.004952716175466776, 0.004521606490015984, 0.002623242326080799, 0.00010216323425993323, 0.00010069322161143646, 4.5170461817178875e-05, 0.004005800932645798, 0.0018138636369258165, 0.0017652593087404966, 0.0001426485978299752, 0.00012309856538195163, 5.9081630752189085e-05, 0.0017421856755390763, 0.001428991206921637, 0.0011311533162370324, 0.00016033690189942718, 0.00016300208517350256, 5.400269219535403e-05, 2.7845823764801025, 4.607655048370361, 4.806131839752197, 0.11971541494131088, 0.007870828732848167, 0.055515412241220474, 1.6535874605178833, 3.153712511062622, 3.746464729309082, 0.06214405596256256, 0.0036502014845609665, 0.029949942603707314, 0.0047829956747591496, 0.0012990918476134539, 0.0018052873201668262, 0.0002633273834362626, 0.00025501855998300016, 9.823492291616276e-05, 0.007324957754462957, 0.005648236721754074, 0.003976539243012667, 0.00023292316473089159, 0.00025150986039079726, 8.8363369286526e-05, 0.004290536977350712, 0.003097954671829939, 0.0021273037418723106, 0.00019680734840221703, 0.00019371474627405405, 7.550023292424157e-05], "count": [1561]}, "timestamp": {"min": [0.0], "max": [52.0], "mean": [26.0], "std": [15.020726421256139], "count": [1561]}, "frame_index": {"min": [0], "max": [1560], "mean": [780.0], "std": [450.6217926376841], "count": [1561]}, "episode_index": {"min": [28], "max": [28], "mean": [28.0], "std": [0.0], "count": [1561]}, "index": {"min": [42919], "max": [44479], "mean": [43699.0], "std": [450.6217926376841], "count": [1561]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1561]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33890965580940247]], [[0.33811813592910767]], [[0.337930291891098]]], "std": [[[0.21255075931549072]], [[0.2125561684370041]], [[0.2125469148159027]]], "count": [1561]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30537962913513184]], [[0.3072899878025055]], [[0.30547383427619934]]], "std": [[[0.17199274897575378]], [[0.17425572872161865]], [[0.17331330478191376]]], "count": [1561]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30936211347579956]], [[0.3084372282028198]], [[0.3069761395454407]]], "std": [[[0.17448143661022186]], [[0.17518997192382812]], [[0.1738894283771515]]], "count": [1561]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33594685792922974]], [[0.33519870042800903]], [[0.3351646363735199]]], "std": [[[0.21181298792362213]], [[0.21184903383255005]], [[0.2118663638830185]]], "count": [1561]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.772549033164978]], [[0.772549033164978]], [[0.772549033164978]]], "mean": [[[0.009335830807685852]], [[0.009335830807685852]], [[0.009335830807685852]]], "std": [[[0.06756360828876495]], [[0.06756360828876495]], [[0.06756360828876495]]], "count": [1561]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[0.9764705896377563]], [[0.9764705896377563]], [[0.9764705896377563]]], "mean": [[[0.47393369674682617]], [[0.47393369674682617]], [[0.47393369674682617]]], "std": [[[0.1527392566204071]], [[0.1527392566204071]], [[0.1527392566204071]]], "count": [1561]}}}
+{"episode_index": 29, "stats": {"observation.state": {"min": [0.7505506873130798, -0.8450139164924622, 8.508799510309473e-06, 1.1401156187057495, -0.747079074382782, -0.7699794173240662, 0.3721717596054077, 0.007656910922378302, -0.19087839126586914, -0.1574152559041977, -0.31601086258888245, 0.00253725191578269, 0.003120151348412037, -0.00022102797811385244, 0.003391748294234276, 0.000839399523101747, 0.0037918214220553637, -0.000614512013271451, 0.0035101724788546562, 0.00085270224371925, 0.003305118065327406, 5.961142960586585e-05, 0.00306023214943707, 0.0008739865152165294, 0.0056022037751972675, 0.0032349582761526108, 9.199290070682764e-05, 0.006521120201796293, 0.00085270224371925, 0.34745118021965027, -1.1024473905563354, 0.0006162287900224328, 1.155118703842163, -1.663754940032959, -0.7692194581031799, -0.4521365165710449, 0.02478671818971634, -0.3184454143047333, -0.10664289444684982, -0.29409870505332947, 0.00687958300113678, 0.0140221593901515, 6.599000334972516e-05, 0.0034949262626469135, 0.001861932803876698, 0.027609622105956078, -9.321802644990385e-05, 0.003398130415007472, 0.0054483371786773205, 0.013750105164945126, -3.5570446925703436e-05, 0.010328770615160465, 0.005504651460796595, 0.004924673121422529, 0.04017756134271622, 0.0015356659423559904, 0.0030804420821368694, 0.0008487114100717008, 0.5623956918716431, -1.1070547103881836, 0.511294960975647, -0.006998787168413401, -0.04410194605588913, -0.04381432756781578, -0.8317052125930786], "max": [1.0499993562698364, -0.5569567084312439, 0.4128740727901459, 1.6242027282714844, -9.707222488941625e-06, -0.37750595808029175, 0.5880741477012634, 1.2552322149276733, -5.510610208148137e-05, 0.49808987975120544, -0.002460356103256345, 0.9498646855354309, 1.1646043062210083, 0.24469424784183502, 0.23119910061359406, 0.08993946760892868, 1.304543137550354, 0.2186122089624405, 0.030087141320109367, 0.11949536949396133, 1.162950873374939, 0.1556221842765808, 0.15978942811489105, 0.3460986614227295, 0.058703262358903885, 0.7378109097480774, 0.19883719086647034, 0.22943444550037384, 0.19805040955543518, 1.2719461917877197, -0.3513994514942169, 0.8218569159507751, 1.9360847473144531, -0.0009503490291535854, 0.10128875821828842, 0.5191424489021301, 1.3114635944366455, -0.0026890162844210863, 0.663780152797699, 0.31465548276901245, 0.6304971575737, 1.466490387916565, 0.13799238204956055, 0.10996908694505692, 0.48475298285484314, 1.4670644998550415, 0.23247244954109192, 1.6533571481704712, 1.2895753383636475, 1.4667840003967285, 0.26405152678489685, 1.6539185047149658, 0.9861011505126953, 0.14669767022132874, 1.4668989181518555, 0.19622759521007538, 1.653456449508667, 1.3080793619155884, 0.563066840171814, -1.1066712141036987, 0.5441796779632568, 0.0014381069922819734, 0.0, 0.11361045390367508, -0.5997864603996277], "mean": [0.9516488909721375, -0.6292132139205933, 0.18827573955059052, 1.2526733875274658, -0.6357762813568115, -0.4310688376426697, 0.5153981447219849, 1.2182177305221558, -0.15189439058303833, 0.38973674178123474, -0.30763062834739685, 0.7722681760787964, 1.1132333278656006, 0.19994370639324188, 0.1789555549621582, 0.0843992680311203, 1.2265642881393433, 0.17849089205265045, 0.004269342869520187, 0.10313771665096283, 1.09624183177948, 0.08876150846481323, 0.01195678673684597, 0.330822229385376, 0.05559828504920006, 0.6747450828552246, 0.09084168821573257, 0.1915343999862671, 0.16513878107070923, 0.9516618251800537, -0.7149844169616699, 0.3455645442008972, 1.4504376649856567, -1.2149933576583862, -0.22036157548427582, -0.130374938249588, 1.2349433898925781, -0.25131484866142273, 0.2683267295360565, -0.08697444200515747, 0.5773627161979675, 1.2341777086257935, 0.0798320323228836, 0.09703534096479416, 0.4147352874279022, 1.4092856645584106, 0.1647520214319229, 1.3862513303756714, 1.077000379562378, 1.3418115377426147, 0.1611752212047577, 1.4594058990478516, 0.8292576670646667, 0.10895558446645737, 1.427088737487793, 0.11820569634437561, 1.376442551612854, 1.092387318611145, 0.5626844763755798, -1.1068506240844727, 0.5157732367515564, -0.003226278815418482, -0.029512079432606697, 0.02562842331826687, -0.7161864042282104], "std": [0.054600536823272705, 0.07397951930761337, 0.060570426285266876, 0.11792809516191483, 0.16410978138446808, 0.04406408220529556, 0.027508629485964775, 0.15883861482143402, 0.02030917815864086, 0.17324058711528778, 0.03889456018805504, 0.10273563861846924, 0.15469208359718323, 0.03373228386044502, 0.06331834197044373, 0.011269386857748032, 0.20308566093444824, 0.026333682239055634, 0.0036148924846202135, 0.03338667377829552, 0.17453916370868683, 0.018448056653141975, 0.021235179156064987, 0.050298500806093216, 0.009075692854821682, 0.09893224388360977, 0.02548200450837612, 0.05606691539287567, 0.04869793727993965, 0.21974343061447144, 0.175903782248497, 0.19501185417175293, 0.1906874179840088, 0.40592968463897705, 0.2042546421289444, 0.19294951856136322, 0.15137240290641785, 0.05199265107512474, 0.24039186537265778, 0.1593683809041977, 0.07522745430469513, 0.2170403003692627, 0.02941899187862873, 0.013708125799894333, 0.07370247691869736, 0.17899315059185028, 0.026085661724209785, 0.5698373913764954, 0.19767425954341888, 0.2691645622253418, 0.029063638299703598, 0.4406023323535919, 0.1574116200208664, 0.02740897797048092, 0.16103656589984894, 0.031309761106967926, 0.5923703908920288, 0.4667927920818329, 5.0790273235179484e-05, 3.1713359931018203e-05, 0.00487484922632575, 0.002714205998927355, 0.007138649933040142, 0.0401080921292305, 0.07167124003171921], "count": [1385]}, "observation.state.joint_torque": {"min": [-45.403499603271484, -8.958000183105469, -22.309999465942383, -13.140000343322754, -0.5672000050544739, -1.1095999479293823, 0.9735999703407288, -1.1257983446121216, -0.46611109375953674, -0.8673973083496094, -0.7891079187393188, -0.39514094591140747, -0.35596123337745667, -0.44711029529571533, -0.25235894322395325, -0.046377696096897125, -0.5804758667945862, -0.3290962278842926, -0.07471152395009995, -0.021405089646577835, -0.5171512365341187, -1.1110596656799316, -0.07471152395009995, -0.026399608701467514, -0.08664081245660782, -0.4490292966365814, -0.5037187337875366, -0.12451920658349991, -0.02497260272502899, 16.300500869750977, -15.003000259399414, 7.7870001792907715, -16.60099983215332, -1.7319999933242798, -1.351199984550476, -2.575200080871582, -1.114336609840393, -1.1092424392700195, -0.7791663408279419, -0.8599411845207214, -0.1494230479001999, -0.6745033860206604, -1.2223575115203857, -0.10459613054990768, -0.019264578819274902, -0.4624617397785187, -0.3761099874973297, -0.3619358241558075, -0.05565322935581207, -0.7800443768501282, -0.5766379833221436, -0.5860704183578491, -0.03638865053653717, -0.07696519792079926, -0.7387874722480774, -1.711684226989746, -0.6989678740501404, -0.1341385543346405, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-17.851499557495117, 18.745500564575195, -7.156000137329102, 4.27400016784668, 1.815999984741211, 1.5815999507904053, 5.246399879455566, 0.6635078191757202, 0.8889222145080566, 1.1817978620529175, 0.933259904384613, 0.20919226109981537, 0.6303679943084717, 0.6111786961555481, 0.3287307322025299, 0.08490685373544693, 0.6524356603622437, 0.7435847520828247, 0.05810895934700966, 0.04994520545005798, 0.615976095199585, 0.19956856966018677, 0.08633331209421158, 0.02497260272502899, 0.0672895684838295, 0.36843428015708923, 0.36555588245391846, 0.09961536526679993, 0.022832093760371208, 47.34299850463867, 28.062000274658203, 26.47599983215332, 5.730000019073486, -0.07199999690055847, 3.8559999465942383, 0.48159998655319214, 1.856803059577942, 3.974679470062256, 1.830481767654419, 1.4141806364059448, 0.5362627506256104, 1.7903603315353394, 0.5420973300933838, 1.0559228658676147, 0.21405088901519775, 0.7234359979629517, 0.34732604026794434, 0.1859486699104309, 0.0834798514842987, 0.8117067813873291, 1.906455397605896, 0.7388139367103577, 0.02354559674859047, 0.49125784635543823, 0.5238674879074097, 0.3550017774105072, 0.6292370557785034, 0.14198710024356842, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-30.022985458374023, 2.4538626670837402, -14.603364944458008, -5.867570400238037, 0.0817328467965126, 0.6851035952568054, 1.9396939277648926, -0.03317791596055031, 0.029746297746896744, 0.2643912136554718, 0.07204458117485046, 0.0028134449385106564, 0.13952147960662842, 0.1329095959663391, 0.07884956151247025, 0.03592807427048683, 0.08481878787279129, 0.11215200275182724, -0.001385743380524218, 0.006622963584959507, 0.02675618790090084, -0.11776763200759888, -0.0037520627956837416, 0.0004265558090992272, 3.7789370253449306e-05, 0.03238137438893318, 0.026450056582689285, 0.0017909269081428647, 0.0022105721291154623, 27.392343521118164, 3.256108522415161, 14.201803207397461, -6.422874927520752, -0.6285396218299866, 1.1051113605499268, -1.0606342554092407, 0.08577707409858704, 0.4659207761287689, 0.18503338098526, 0.09657356888055801, 0.05466138944029808, 0.3339775800704956, -0.18908382952213287, 0.1489458829164505, 0.03844062611460686, 0.014452860690653324, 0.015903549268841743, 0.004145256243646145, -0.00017979383119381964, 0.007080640643835068, 0.2912178635597229, 0.0021889018826186657, -0.00010355096310377121, 0.25875377655029297, -0.016583077609539032, -0.19422034919261932, 0.0037736420053988695, 0.000684139144141227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.4179329872131348, 1.889477252960205, 1.1096813678741455, 1.3702608346939087, 0.31911569833755493, 0.4106677770614624, 0.5182725191116333, 0.1963452398777008, 0.11916222423315048, 0.2990066111087799, 0.1989639401435852, 0.0296646561473608, 0.1456456035375595, 0.15338417887687683, 0.07775779813528061, 0.02117900364100933, 0.15017761290073395, 0.1435398906469345, 0.006876002997159958, 0.011179923079907894, 0.12884502112865448, 0.18791450560092926, 0.01199564803391695, 0.005303522571921349, 0.007917705923318863, 0.07627236843109131, 0.09046303480863571, 0.0196430291980505, 0.007321272045373917, 4.343724727630615, 2.858377456665039, 1.9716981649398804, 2.7630772590637207, 0.22633352875709534, 0.6770517230033875, 0.68253093957901, 0.4372442960739136, 0.8504964709281921, 0.39220932126045227, 0.32661473751068115, 0.09581952542066574, 0.5327671766281128, 0.3410264551639557, 0.22344645857810974, 0.05209248512983322, 0.0806039348244667, 0.07934398949146271, 0.026253415271639824, 0.006080646999180317, 0.18458077311515808, 0.41019436717033386, 0.030947335064411163, 0.007825096137821674, 0.18553175032138824, 0.13367076218128204, 0.27547401189804077, 0.03299836441874504, 0.006713089998811483, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1385]}, "observation.state.tcp": {"min": [0.3548767864704132, 0.14264202117919922, 1.0265165567398071, -1.208854079246521, 1.0671294927597046, -1.6567822694778442, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.26872333884239197, -0.308698445558548, 1.0030708312988281, -0.3343629837036133, 0.9366430640220642, 0.193272665143013, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4459574818611145, 0.23623688519001007, 1.142425298690796, -0.3829943537712097, 1.3800841569900513, -1.2288793325424194, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4455944895744324, -0.08615880459547043, 1.2345654964447021, 1.2084699869155884, 2.117368459701538, 1.4431071281433105, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.40517643094062805, 0.16484959423542023, 1.0645257234573364, -0.5503736734390259, 1.2828861474990845, -1.391098976135254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.38035252690315247, -0.2055426687002182, 1.1143797636032104, 0.33861464262008667, 1.5945987701416016, 0.8080388307571411, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.01977631077170372, 0.019300244748592377, 0.01730736345052719, 0.19121740758419037, 0.05583033338189125, 0.0760868638753891, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05457213521003723, 0.0645824521780014, 0.0716504380106926, 0.4289337992668152, 0.2969733476638794, 0.37327417731285095, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1385]}, "action": {"min": [0.7504827976226807, -0.8452267646789551, 8.720695537266878e-18, 1.139280915260315, -0.7470600605010986, -0.7699999809265137, 0.37130188941955566, 0.0, -0.19154506921768188, -0.16411568224430084, -0.3490658402442932, 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, 0.34745195508003235, -1.1034667491912842, 0.002102319849655032, 1.1551052331924438, -1.6637234687805176, -0.7672010064125061, -0.4523318111896515, 0.0, -0.3490658402442932, -0.1067672073841095, -0.2948971390724182, 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, 0.5626833438873291, -1.1069231033325195, 0.5106055736541748, -0.007411053869873285, -0.04496283456683159, -0.0440741628408432, -0.8318899869918823], "max": [1.0499999523162842, -0.5568435192108154, 0.4129011929035187, 1.6244434118270874, -9.096136066897294e-19, -0.37697386741638184, 0.5880394577980042, 1.265438199043274, 0.0, 0.5070391893386841, 0.0, 0.9535800218582153, 1.1723294258117676, 0.24400943517684937, 0.24429285526275635, 0.0905432254076004, 1.307759165763855, 0.21956199407577515, 0.03950347378849983, 0.12106938660144806, 1.1651533842086792, 0.15618914365768433, 0.1659231036901474, 0.351291298866272, 0.0747048631310463, 0.7470486164093018, 0.19799000024795532, 0.23435382544994354, 0.20098985731601715, 1.271977186203003, -0.3512294590473175, 0.8220536708831787, 1.9369008541107178, -0.0036020446568727493, 0.10150889307260513, 0.5168734192848206, 1.3107867240905762, 0.0, 0.6785351037979126, 0.3490658402442932, 0.6348762512207031, 1.5453153848648071, 0.14104121923446655, 0.11342961341142654, 0.48838120698928833, 1.5707963705062866, 0.25139182806015015, 1.7453292608261108, 1.2919954061508179, 1.5707963705062866, 0.2854270339012146, 1.7453292608261108, 0.9897050857543945, 0.1618157923221588, 1.5707963705062866, 0.2051805853843689, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.5442397594451904, 0.0016583724645897746, -4.471507685618948e-20, 0.11377496272325516, -0.6000000238418579], "mean": [0.9517802000045776, -0.6292669177055359, 0.18821926414966583, 1.2526663541793823, -0.635729968547821, -0.43117353320121765, 0.515601634979248, 1.2134839296340942, -0.15227332711219788, 0.39584749937057495, -0.34120312333106995, 0.7784770131111145, 1.1159098148345947, 0.20468640327453613, 0.18260209262371063, 0.08677411079406738, 1.2299970388412476, 0.1815292239189148, 0.000755403540097177, 0.10677805542945862, 1.1004856824874878, 0.08946500718593597, 0.010135057382285595, 0.33451855182647705, 0.06789862364530563, 0.6789859533309937, 0.09231793880462646, 0.19559140503406525, 0.16765201091766357, 0.9523313045501709, -0.7156259417533875, 0.34515875577926636, 1.4507991075515747, -1.2139742374420166, -0.2208370864391327, -0.130240797996521, 1.2363015413284302, -0.2530433237552643, 0.26978960633277893, -0.08678624778985977, 0.5795300602912903, 1.2443422079086304, 0.07940735667943954, 0.09967232495546341, 0.4167672097682953, 1.4865782260894775, 0.165525883436203, 1.4625860452651978, 1.0788836479187012, 1.415630578994751, 0.16310377418994904, 1.5364596843719482, 0.8306567668914795, 0.12752945721149445, 1.5161117315292358, 0.11791699379682541, 1.4529324769973755, 1.167625069618225, 0.5626831650733948, -1.106852650642395, 0.5158336162567139, -0.003252606373280287, -0.029546009376645088, 0.025660887360572815, -0.7162269949913025], "std": [0.054570090025663376, 0.07405789941549301, 0.06059319153428078, 0.11808229982852936, 0.1642768383026123, 0.044445790350437164, 0.026998933404684067, 0.1764446496963501, 0.02354837767779827, 0.17591647803783417, 0.05079810321331024, 0.12179406732320786, 0.1719793677330017, 0.03728754445910454, 0.06605646014213562, 0.012967698276042938, 0.2149730920791626, 0.030501438304781914, 0.004510529804974794, 0.03463098406791687, 0.18697190284729004, 0.01981116086244583, 0.022398117929697037, 0.05463630333542824, 0.010945562273263931, 0.10945560783147812, 0.027443943545222282, 0.057518333196640015, 0.04930416867136955, 0.21972812712192535, 0.17661947011947632, 0.19491541385650635, 0.19114932417869568, 0.4060407280921936, 0.20423093438148499, 0.19306087493896484, 0.17322273552417755, 0.06176430732011795, 0.2406647652387619, 0.16249556839466095, 0.08806595206260681, 0.23857930302619934, 0.028032271191477776, 0.015723006799817085, 0.08100993186235428, 0.22637419402599335, 0.029076911509037018, 0.6014454364776611, 0.20807939767837524, 0.3114583492279053, 0.03118295595049858, 0.47813573479652405, 0.16453681886196136, 0.03170863538980484, 0.20447467267513275, 0.03170003741979599, 0.6228241920471191, 0.4976820647716522, 1.800149078690083e-07, 1.3648017556988634e-05, 0.005060368683189154, 0.00275862286798656, 0.007252013776451349, 0.04017776623368263, 0.07174673676490784], "count": [1385]}, "observation.state.tcp_pose": {"min": [0.3548767864704132, 0.14264202117919922, 1.0265165567398071, -1.208854079246521, 1.0671294927597046, -1.6567822694778442, 0.26872333884239197, -0.308698445558548, 1.0030708312988281, -0.3343629837036133, 0.9366430640220642, 0.193272665143013], "max": [0.4459574818611145, 0.23623688519001007, 1.142425298690796, -0.3829943537712097, 1.3800841569900513, -1.2288793325424194, 0.4455944895744324, -0.08615880459547043, 1.2345654964447021, 1.2084699869155884, 2.117368459701538, 1.4431071281433105], "mean": [0.40517643094062805, 0.16484959423542023, 1.0645257234573364, -0.5503736734390259, 1.2828861474990845, -1.391098976135254, 0.38035252690315247, -0.2055426687002182, 1.1143797636032104, 0.33861464262008667, 1.5945987701416016, 0.8080388307571411], "std": [0.01977631077170372, 0.019300244748592377, 0.01730736345052719, 0.19121740758419037, 0.05583033338189125, 0.0760868638753891, 0.05457213521003723, 0.0645824521780014, 0.0716504380106926, 0.4289337992668152, 0.2969733476638794, 0.37327417731285095], "count": [1385]}, "action.tcp_pose": {"min": [0.35487309098243713, 0.14218422770500183, 1.0263574123382568, -1.208855390548706, 1.0672687292099, -1.6563092470169067, 0.2685190439224243, -0.30911174416542053, 1.0030357837677002, -0.3344306945800781, 0.9359952211380005, 0.19293726980686188], "max": [0.44653061032295227, 0.2372129112482071, 1.1423593759536743, -0.3828046917915344, 1.3800928592681885, -1.2289544343948364, 0.4457489848136902, -0.08597330003976822, 1.2347503900527954, 1.2068500518798828, 2.1179280281066895, 1.4454597234725952], "mean": [0.40520966053009033, 0.16487349569797516, 1.0645554065704346, -0.5502387285232544, 1.2826679944992065, -1.391083002090454, 0.3802926540374756, -0.205749973654747, 1.1146312952041626, 0.33914366364479065, 1.5941599607467651, 0.8082853555679321], "std": [0.019832540303468704, 0.01945497654378414, 0.017351416870951653, 0.19085285067558289, 0.05629236251115799, 0.07613268494606018, 0.05473113805055618, 0.06494447588920593, 0.07184853404760361, 0.4286593794822693, 0.2971404790878296, 0.3733785152435303], "count": [1385]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.335740072202166], "std": [6.898902799094542], "count": [1385]}, "observation.tactile": {"min": [-7.277271270751953, -0.005584716796875, -0.00213623046875, -0.16322803497314453, -0.015285491943359375, -0.15907907485961914, -1.0894336700439453, -0.00225830078125, -0.0020751953125, -0.3382883071899414, -0.01585865020751953, -0.022505998611450195, -0.1102142333984375, -0.02203369140625, -0.00250244140625, -0.2140645980834961, -0.01812887191772461, -0.00638270378112793, -0.01495361328125, -0.00927734375, -0.00433349609375, -0.0009145736694335938, -0.0009245872497558594, -0.0003895759582519531, -0.00429534912109375, -0.006683349609375, -0.003173828125, -9.5367431640625e-05, -0.0011348724365234375, -0.00030982494354248047, -0.7105026245117188, -0.02166748046875, -0.00286865234375, -0.4192228317260742, -0.04982423782348633, -0.017952919006347656, -5.479972839355469, -0.009521484375, -0.00103759765625, -0.1724710464477539, -0.02305459976196289, -0.10465860366821289, -0.028852462768554688, -0.00616455078125, -0.00421142578125, -0.0001697540283203125, -0.0014214515686035156, -0.0006024837493896484, -0.005893707275390625, -0.005126953125, -0.01116943359375, -0.0002803802490234375, -0.0011816024780273438, -0.0005784034729003906, -0.017076492309570312, -0.004638671875, -0.0081787109375, -0.0001678466796875, -0.0009002685546875, -0.0004856586456298828], "max": [0.6631584167480469, 5.7283935546875, 6.7186279296875, 0.0006084442138671875, 0.000171661376953125, 0.01831960678100586, 7.532636642456055, 9.969512939453125, 20.76513671875, 0.0016651153564453125, 0.03101634979248047, 0.1235511302947998, 7.1123199462890625, 6.904876708984375, 12.29876708984375, 0.0018587112426757812, 0.004278659820556641, 0.13211369514465332, 0.014984130859375, 0.01080322265625, 0.021331787109375, 0.00075531005859375, 0.0005066394805908203, 5.9604644775390625e-05, 0.06657028198242188, 0.056671142578125, 0.03936767578125, 0.001621246337890625, 0.0008325576782226562, 0.0008471012115478516, 5.719673156738281, 22.03179931640625, 20.39141845703125, 0.0014476776123046875, 0.007461071014404297, 0.13355159759521484, 0.11347198486328125, 9.640625, 10.45819091796875, 0.001140594482421875, 0.01901388168334961, 0.0029425621032714844, 0.030656814575195312, 0.0076141357421875, 0.00933837890625, 0.0016078948974609375, 0.00022363662719726562, 0.0, 0.024097442626953125, 0.01141357421875, 0.024200439453125, 0.001251220703125, 0.0002970695495605469, 3.218650817871094e-05, 0.012998580932617188, 0.0096435546875, 0.00457763671875, 0.0010318756103515625, 0.00019979476928710938, 6.103515625e-05], "mean": [-2.4191160202026367, 3.1947021484375, 2.3757996559143066, -0.05880437791347504, -0.007229202426970005, -0.05449774116277695, 1.4519147872924805, 1.0489832162857056, 3.652148485183716, -0.06291580945253372, -0.003073063911870122, 0.02541705220937729, 0.7912442684173584, 0.5295538902282715, 1.572664737701416, -0.02894357591867447, -0.0003607958205975592, 0.013447710312902927, -0.00025683653075248003, -0.001795381074771285, 0.0013100083451718092, 0.00021270655270200223, -0.00027196190785616636, -0.00010907382966252044, 0.004691108129918575, 0.0025882762856781483, 0.00013674519141204655, 0.0006189449341036379, -0.0005593795794993639, -0.0001620159309823066, 1.0470987558364868, 3.3622708320617676, 3.3420894145965576, -0.07952365279197693, -0.006616668310016394, 0.023101650178432465, -1.2229543924331665, 1.4361933469772339, 1.8319337368011475, -0.031669944524765015, -4.9569029215490445e-05, -0.023837082087993622, 0.004828544799238443, -0.0003976649895776063, 0.0005089053884148598, 0.0006661287625320256, -0.0006202863296493888, -0.00034258485538885, 0.009182254783809185, 0.002861634362488985, 0.00023684724874328822, 0.0005425752606242895, -0.0005685830255970359, -0.0002593249664641917, -0.00033580491435714066, -0.0004921152140013874, -0.0016276775859296322, 0.00033692590659484267, -0.00019906522356905043, -0.00013623056292999536], "std": [1.3831920623779297, 1.5352046489715576, 1.1990008354187012, 0.029575657099485397, 0.003762265434488654, 0.03211352229118347, 1.037140965461731, 1.1089435815811157, 2.5318660736083984, 0.042364247143268585, 0.004900810774415731, 0.018169736489653587, 0.9970952272415161, 0.8958439230918884, 1.6955472230911255, 0.02955910749733448, 0.0028022213373333216, 0.01846013218164444, 0.004476300906389952, 0.001641581067815423, 0.0015619914047420025, 0.0001682454312685877, 0.00016544299433007836, 6.611389835597947e-05, 0.003287054831162095, 0.002101440913975239, 0.001514109899289906, 0.00017833741731010377, 0.00016235146904364228, 6.137201853562146e-05, 1.4857876300811768, 4.730708122253418, 4.527806282043457, 0.10513457655906677, 0.010165615007281303, 0.03133209049701691, 1.5531717538833618, 2.006258487701416, 2.544438600540161, 0.041782084852457047, 0.004108109511435032, 0.03041832149028778, 0.008606224320828915, 0.0019082521321251988, 0.0017548026517033577, 0.0002937689423561096, 0.00030836748192086816, 8.96146593731828e-05, 0.005338332150131464, 0.002000583568587899, 0.00315369782038033, 0.0002566180774010718, 0.00027377865626476705, 9.864372987067327e-05, 0.004629725124686956, 0.0013453357387334108, 0.0018221283098682761, 0.0002259231696370989, 0.00023315199359785765, 7.60352922952734e-05], "count": [1385]}, "timestamp": {"min": [0.0], "max": [46.13333333333333], "mean": [23.066666666666663], "std": [13.327165239965074], "count": [1385]}, "frame_index": {"min": [0], "max": [1384], "mean": [692.0], "std": [399.81495719895224], "count": [1385]}, "episode_index": {"min": [29], "max": [29], "mean": [29.0], "std": [0.0], "count": [1385]}, "index": {"min": [44480], "max": [45864], "mean": [45172.0], "std": [399.81495719895224], "count": [1385]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1385]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34550341963768005]], [[0.3447495102882385]], [[0.3446138799190521]]], "std": [[[0.22016172111034393]], [[0.22013454139232635]], [[0.22009436786174774]]], "count": [1385]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30525702238082886]], [[0.30612194538116455]], [[0.30369430780410767]]], "std": [[[0.17067115008831024]], [[0.17260314524173737]], [[0.1717822253704071]]], "count": [1385]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30970698595046997]], [[0.3087582290172577]], [[0.30723491311073303]]], "std": [[[0.17444106936454773]], [[0.17501947283744812]], [[0.17377729713916779]]], "count": [1385]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3433489203453064]], [[0.342602014541626]], [[0.3426135778427124]]], "std": [[[0.22020533680915833]], [[0.2202158123254776]], [[0.2202233225107193]]], "count": [1385]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.772549033164978]], [[0.772549033164978]], [[0.772549033164978]]], "mean": [[[0.00785382091999054]], [[0.00785382091999054]], [[0.00785382091999054]]], "std": [[[0.0590287446975708]], [[0.0590287446975708]], [[0.0590287446975708]]], "count": [1385]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.95686274766922]], [[0.95686274766922]], [[0.95686274766922]]], "mean": [[[0.4735669493675232]], [[0.4735669493675232]], [[0.4735669493675232]]], "std": [[[0.15232302248477936]], [[0.15232302248477936]], [[0.15232302248477936]]], "count": [1385]}}}
+{"episode_index": 30, "stats": {"observation.state": {"min": [0.7982316017150879, -0.870921790599823, 8.388957439819933e-07, 1.1790176630020142, -0.7259788513183594, -0.7700011730194092, 0.38895365595817566, 0.007671726867556572, -0.21411004662513733, -0.23342472314834595, -0.31702908873558044, 0.002405709121376276, 0.00312407617457211, -0.00019060910562984645, 0.003418340813368559, 0.0008362955995835364, 0.00389632536098361, -0.0006878611166030169, 0.003661570604890585, 0.0008673351258039474, 0.0033087979536503553, 5.200655505177565e-05, 0.005703143775463104, 0.000857136445119977, 0.005936152767390013, 0.00326660368591547, 6.721615500282496e-05, 0.006524311378598213, 0.0008562495931982994, 0.29215195775032043, -1.0295062065124512, 0.0004973453469574451, 1.2545642852783203, -1.716260313987732, -0.769336462020874, -0.41525158286094666, 0.006420177407562733, -0.31596508622169495, -0.1285930871963501, -0.31638020277023315, 0.003293180139735341, 0.003151551354676485, 9.444601892028004e-05, 0.003483580192551017, 0.0009094603592529893, 0.003225636435672641, -1.7170978026115336e-06, 0.0033999034203588963, 0.0011857128702104092, 0.0032749443780630827, -0.00019968570268247277, 0.003486062167212367, 0.0010744136525318027, 0.0055454750545322895, 0.003293342888355255, -0.000288734765490517, 0.0031027798540890217, 0.0008518153917975724, 0.5622998476028442, -1.1070547103881836, 0.5122537016868591, -0.004218447022140026, -0.0415133535861969, -0.05138835683465004, -0.8405256271362305], "max": [1.05001699924469, -0.5671291947364807, 0.442907452583313, 1.6033066511154175, 4.793689640791854e-07, -0.3450582027435303, 0.570640504360199, 1.2579569816589355, -5.528680412680842e-05, 0.5477116107940674, -0.002352585084736347, 0.9690869450569153, 1.204306960105896, 0.22330884635448456, 0.2079993486404419, 0.08953240513801575, 1.3353400230407715, 0.21983852982521057, 0.0037399292923510075, 0.08963882923126221, 1.1880377531051636, 0.15396654605865479, 0.005762001499533653, 0.33221110701560974, 0.06161995604634285, 0.7645685076713562, 0.22319522500038147, 0.16874250769615173, 0.14711840450763702, 1.2118117809295654, -0.28909918665885925, 0.8587450981140137, 1.9149103164672852, -0.0009372862405143678, 0.15737731754779816, 0.5191830992698669, 1.3460184335708618, 0.0012025863397866488, 0.5367026925086975, 0.3145498037338257, 0.6220319867134094, 1.4681841135025024, 0.1360141932964325, 0.1080331802368164, 0.4895007312297821, 1.4648922681808472, 0.2431129664182663, 1.653364658355713, 1.2411047220230103, 1.4668480157852173, 0.2683577835559845, 1.6539548635482788, 0.9545453786849976, 0.13823121786117554, 1.4672783613204956, 0.20126686990261078, 1.6534295082092285, 1.3081023693084717, 0.563066840171814, -1.1066712141036987, 0.5441796779632568, 0.0031638352666050196, 0.0, 0.0800546258687973, -0.5907743573188782], "mean": [0.9542285203933716, -0.6361213326454163, 0.18842515349388123, 1.2677258253097534, -0.6258116960525513, -0.4712966978549957, 0.5276885032653809, 1.206913948059082, -0.162944957613945, 0.43143418431282043, -0.30786943435668945, 0.7600377202033997, 1.148179054260254, 0.19698306918144226, 0.16459442675113678, 0.08446171134710312, 1.2597746849060059, 0.17519737780094147, 0.0036912003997713327, 0.07606769353151321, 1.1229338645935059, 0.08665011078119278, 0.0057329051196575165, 0.31727293133735657, 0.059842612594366074, 0.7198973298072815, 0.10559132695198059, 0.14289060235023499, 0.1223352774977684, 0.8884615302085876, -0.7099831700325012, 0.41649091243743896, 1.462258219718933, -1.279515266418457, -0.23294910788536072, -0.12240060418844223, 1.2445132732391357, -0.2463969588279724, 0.2552903890609741, -0.0774812176823616, 0.5718582272529602, 1.2294102907180786, 0.07931649684906006, 0.09763279557228088, 0.4129813313484192, 1.3905702829360962, 0.17361676692962646, 1.4084186553955078, 1.0923997163772583, 1.3366812467575073, 0.15903617441654205, 1.4714823961257935, 0.8353913426399231, 0.11212944239377975, 1.4083653688430786, 0.1305486112833023, 1.392370581626892, 1.1033844947814941, 0.562683641910553, -1.1068514585494995, 0.5167860984802246, -0.0015875371173024178, -0.029921812936663628, 0.01876462996006012, -0.7102868556976318], "std": [0.04726949706673622, 0.07065753638744354, 0.06312575191259384, 0.11850263923406601, 0.16490903496742249, 0.04500722140073776, 0.024281185120344162, 0.16324812173843384, 0.02284756489098072, 0.18077032268047333, 0.040001098066568375, 0.10625356435775757, 0.16636960208415985, 0.034119103103876114, 0.05863836780190468, 0.011476008221507072, 0.21095077693462372, 0.02504696696996689, 1.2368764146231115e-05, 0.02582584135234356, 0.18009532988071442, 0.01871076598763466, 7.659980838070624e-06, 0.04898519068956375, 0.008120701648294926, 0.10562431067228317, 0.0256859939545393, 0.043369680643081665, 0.037504445761442184, 0.2547994554042816, 0.18641875684261322, 0.21264992654323578, 0.17668162286281586, 0.3784445524215698, 0.20402729511260986, 0.19188201427459717, 0.1613672822713852, 0.05606760457158089, 0.21748431026935577, 0.192505344748497, 0.07714007794857025, 0.22817523777484894, 0.03056071326136589, 0.014071500860154629, 0.07443688809871674, 0.22558796405792236, 0.024420036002993584, 0.5596157312393188, 0.196441188454628, 0.29734480381011963, 0.026677120476961136, 0.4277114272117615, 0.15142863988876343, 0.02774483896791935, 0.19169044494628906, 0.025834713131189346, 0.5828936696052551, 0.4590355455875397, 5.239295569481328e-05, 3.9679143810644746e-05, 0.004271914716809988, 0.0022332649677991867, 0.006327058654278517, 0.03781605884432793, 0.08062902092933655], "count": [1423]}, "observation.state.joint_torque": {"min": [-41.66699981689453, -16.929000854492188, -20.92099952697754, -16.961000442504883, -0.46399998664855957, -1.9864000082015991, 0.8871999979019165, -1.7612884044647217, -0.5909168124198914, -1.1457597017288208, -0.7567979693412781, -0.39514094591140747, -0.6035029888153076, -0.5900704860687256, -0.24073712527751923, -0.04709119349718094, -0.7723687291145325, -0.4048939049243927, -0.0016602561809122562, -0.020691584795713425, -0.6562735438346863, -0.7752470970153809, -0.0016602561809122562, -0.032821137458086014, -0.10027465224266052, -0.43463730812072754, -0.38954249024391174, -0.1062563955783844, -0.026399608701467514, 14.369999885559082, -9.032999992370605, 8.458999633789062, -14.895999908447266, -1.7943999767303467, -1.6871999502182007, -3.1640000343322754, -1.3219215869903564, -1.0022661685943604, -0.8574557900428772, -0.6909353733062744, -0.18096791207790375, -0.5085160136222839, -1.2636144161224365, -0.09131408482789993, -0.04209667816758156, -0.4375156760215759, -0.30702856183052063, -0.14610254764556885, -0.044950686395168304, -0.6860169172286987, -0.5622460246086121, -0.12617947161197662, -0.032821137458086014, -0.07652539014816284, -0.6706655621528625, -0.991126537322998, -0.4515896737575531, -0.08205283433198929, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.576000213623047, 20.256000518798828, -11.111000061035156, 4.343999862670898, 1.764799952507019, 1.725600004196167, 4.355199813842773, 0.7743047475814819, 1.3002715110778809, 1.3458328247070312, 1.0873533487319946, 0.2722820043563843, 1.204127550125122, 0.8395312428474426, 0.6192755699157715, 0.0956093966960907, 0.5881515741348267, 0.6562735438346863, 0.0016602561809122562, 0.05493973195552826, 0.5756785869598389, 0.2600148320198059, 0.0016602561809122562, 0.019978083670139313, 0.059373144060373306, 0.39433979988098145, 0.4451914429664612, 0.09961536526679993, 0.02354559674859047, 49.65299987792969, 19.612499237060547, 29.673999786376953, 4.688000202178955, 0.024000000208616257, 2.815200090408325, 0.5216000080108643, 2.226126194000244, 3.973405599594116, 2.0504376888275146, 1.2588444948196411, 0.4847947955131531, 2.1232943534851074, 0.5267458558082581, 1.0559228658676147, 0.21405088901519775, 0.37323158979415894, 0.4020155072212219, 0.38517940044403076, 0.03781566023826599, 0.5996651649475098, 1.0477349758148193, 0.12285894900560379, 0.022832093760371208, 0.49169760942459106, 0.38954249024391174, 0.2417849749326706, 0.3619358241558075, 0.06706927716732025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.79242706298828, 2.6353795528411865, -14.53385066986084, -5.760620594024658, 0.16117088496685028, 0.6869595050811768, 1.8522942066192627, -0.06847333163022995, 0.06700390577316284, 0.278641015291214, 0.1660129874944687, 0.03294021263718605, 0.29015421867370605, 0.19234532117843628, 0.15139830112457275, 0.02985532209277153, 0.039437778294086456, 0.10389524698257446, -3.5001887681573862e-06, 0.007723177783191204, 0.012323486618697643, -0.05823349207639694, 2.333459178771591e-06, 0.0029532918706536293, -0.0003254466864746064, 0.014621160924434662, 0.005944903939962387, 0.0027826603036373854, 0.0003700368688441813, 27.172155380249023, 3.5453271865844727, 14.179537773132324, -7.0513176918029785, -0.6096038222312927, 1.2546733617782593, -1.087524652481079, 0.06528021395206451, 0.4620533287525177, 0.20397226512432098, 0.09516056627035141, 0.047140493988990784, 0.28017956018447876, -0.11299695074558258, 0.13930630683898926, 0.038311026990413666, 0.0036982866004109383, -0.00603120680898428, 0.004054386634379625, 0.002200676128268242, -0.004115646705031395, 0.07952151447534561, 0.0024664669763296843, 0.0006518341251648962, 0.13981817662715912, -0.006270621903240681, -0.09734895825386047, 0.002507302677258849, 0.00035148783354088664, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.954843282699585, 1.6858272552490234, 0.8418408036231995, 1.1264686584472656, 0.30693909525871277, 0.40967217087745667, 0.37739598751068115, 0.2248372584581375, 0.2033202052116394, 0.35077646374702454, 0.2655988335609436, 0.054924771189689636, 0.24140667915344238, 0.19012907147407532, 0.12180441617965698, 0.01980946585536003, 0.14348548650741577, 0.13605958223342896, 0.0001459308114135638, 0.011085978709161282, 0.10900086164474487, 0.12955249845981598, 8.799341594567522e-05, 0.007386832498013973, 0.006923328153789043, 0.07026313990354538, 0.060373593121767044, 0.019681109115481377, 0.007500458974391222, 4.532366752624512, 3.2465693950653076, 2.1840946674346924, 2.824834108352661, 0.27167314291000366, 0.6665445566177368, 0.6459485292434692, 0.44250181317329407, 0.806125819683075, 0.3887239098548889, 0.32045695185661316, 0.08952190726995468, 0.4888395667076111, 0.27490293979644775, 0.21762722730636597, 0.055087026208639145, 0.06189463287591934, 0.04757382348179817, 0.019763261079788208, 0.006364584434777498, 0.13175490498542786, 0.18857049942016602, 0.014119197614490986, 0.007524377200752497, 0.13063772022724152, 0.0939144715666771, 0.16526508331298828, 0.022369956597685814, 0.004882574547082186, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1423]}, "observation.state.tcp": {"min": [0.35781288146972656, 0.1435461789369583, 1.037933111190796, -1.2088593244552612, 1.0312504768371582, -1.7014057636260986, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.26706191897392273, -0.32452523708343506, 0.9957965612411499, -0.31816694140434265, 0.9170846343040466, 0.17239859700202942, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4342338442802429, 0.23439760506153107, 1.1433453559875488, -0.4023434817790985, 1.3986551761627197, -1.2289153337478638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4438721537590027, -0.0840824544429779, 1.2316538095474243, 1.2083910703659058, 2.1535427570343018, 1.4146220684051514, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.404367595911026, 0.1661512404680252, 1.0687670707702637, -0.5558333396911621, 1.2468034029006958, -1.3769229650497437, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.375328928232193, -0.20794863998889923, 1.1120409965515137, 0.3316800594329834, 1.5690245628356934, 0.8092711567878723, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.019173994660377502, 0.017165057361125946, 0.01699981838464737, 0.19403353333473206, 0.052539218217134476, 0.08600429445505142, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05466357618570328, 0.0680030807852745, 0.07528074830770493, 0.3900366723537445, 0.30342191457748413, 0.3521040380001068, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1423]}, "action": {"min": [0.7981615662574768, -0.8709309101104736, -1.6330034216899362e-18, 1.178987741470337, -0.725967526435852, -0.7699999809265137, 0.3889678418636322, 0.0, -0.2125416398048401, -0.23909856379032135, -0.3490658402442932, 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, 0.2921319305896759, -1.0297962427139282, 0.0012758797965943813, 1.2543840408325195, -1.7162630558013916, -0.7680652737617493, -0.4152166247367859, 0.0, -0.3490658402442932, -0.1307356208562851, -0.3327673077583313, 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, 0.5626833438873291, -1.1069231033325195, 0.5118011832237244, -0.004682052880525589, -0.042133744806051254, -0.05172812566161156, -0.840472936630249], "max": [1.0499999523162842, -0.5671021938323975, 0.44306835532188416, 1.6035089492797852, 1.6820934477586307e-17, -0.34410399198532104, 0.5707301497459412, 1.2622743844985962, 0.0, 0.5530202984809875, 0.0, 0.9733014702796936, 1.2146594524383545, 0.22224611043930054, 0.21281133592128754, 0.09134860336780548, 1.33981192111969, 0.22128766775131226, 0.0, 0.08943106979131699, 1.1916022300720215, 0.15829819440841675, 0.0, 0.3365268409252167, 0.07738931477069855, 0.7738931179046631, 0.2231089472770691, 0.17395341396331787, 0.14944811165332794, 1.2121893167495728, -0.28906872868537903, 0.8587547540664673, 1.9151850938796997, -0.0027695796452462673, 0.15746362507343292, 0.5174813270568848, 1.3465476036071777, 0.0, 0.5375047326087952, 0.3490658402442932, 0.6262476444244385, 1.5674982070922852, 0.13931530714035034, 0.11370263248682022, 0.4930979013442993, 1.5707963705062866, 0.2438177466392517, 1.7453292608261108, 1.244394063949585, 1.5707963705062866, 0.27075833082199097, 1.7453292608261108, 0.957923412322998, 0.1512792706489563, 1.5707963705062866, 0.20402997732162476, 1.7453292608261108, 1.3962633609771729, 0.5627791881561279, -1.106863021850586, 0.5442397594451904, 0.0033864350989460945, -5.038142044101228e-19, 0.08015239238739014, -0.5886260867118835], "mean": [0.9542847871780396, -0.6361787915229797, 0.18852445483207703, 1.2678098678588867, -0.6258986592292786, -0.4712962806224823, 0.5277180075645447, 1.202784538269043, -0.15994589030742645, 0.4381084740161896, -0.3409773111343384, 0.7643745541572571, 1.1534717082977295, 0.19876983761787415, 0.16902214288711548, 0.08738290518522263, 1.2610868215560913, 0.1801847666501999, 0.0, 0.07804370671510696, 1.1236814260482788, 0.0881253182888031, 0.0, 0.3193711042404175, 0.07253148406744003, 0.7253150343894958, 0.10682623833417892, 0.1456557810306549, 0.12484363466501236, 0.888312041759491, -0.7103909850120544, 0.4163855314254761, 1.4623535871505737, -1.2794418334960938, -0.23315323889255524, -0.12256719172000885, 1.247342586517334, -0.2474288046360016, 0.2569390535354614, -0.07613981515169144, 0.5735383629798889, 1.2428123950958252, 0.07850246131420135, 0.09977588057518005, 0.4153752028942108, 1.4803487062454224, 0.17090320587158203, 1.4848955869674683, 1.0943264961242676, 1.4169641733169556, 0.15898118913173676, 1.5470772981643677, 0.8376216292381287, 0.1274842619895935, 1.499829649925232, 0.13139425218105316, 1.4682176113128662, 1.1768172979354858, 0.5626835227012634, -1.106851577758789, 0.5168341994285583, -0.0016123335808515549, -0.02996257320046425, 0.018789764493703842, -0.71033775806427], "std": [0.04721882566809654, 0.07075966894626617, 0.0633554756641388, 0.11863383650779724, 0.16487997770309448, 0.045112427324056625, 0.024181663990020752, 0.1754889339208603, 0.025095613673329353, 0.18178460001945496, 0.05093681439757347, 0.1233951672911644, 0.1809903085231781, 0.03630928695201874, 0.061396900564432144, 0.013112401589751244, 0.22054065763950348, 0.029502032324671745, 0.0, 0.026882898062467575, 0.18999560177326202, 0.020410817116498947, 0.0, 0.05242069810628891, 0.011549079790711403, 0.11549082398414612, 0.028201255947351456, 0.043962251394987106, 0.037676867097616196, 0.25562798976898193, 0.18682260811328888, 0.2129552811384201, 0.1768660545349121, 0.3785760700702667, 0.2040853500366211, 0.19179148972034454, 0.17822593450546265, 0.06593932956457138, 0.218109592795372, 0.19989483058452606, 0.08797502517700195, 0.24836614727973938, 0.02903852052986622, 0.016002314165234566, 0.08123680204153061, 0.2640160620212555, 0.026731504127383232, 0.5954853892326355, 0.20592756569385529, 0.33468592166900635, 0.029355905950069427, 0.46548908948898315, 0.1577984094619751, 0.032147906720638275, 0.23230308294296265, 0.02793741598725319, 0.615575909614563, 0.49094292521476746, 5.611787400994217e-06, 1.4640847439295612e-05, 0.004460223950445652, 0.0022785209584981203, 0.0064480723813176155, 0.03787229210138321, 0.08068782836198807], "count": [1423]}, "observation.state.tcp_pose": {"min": [0.35781288146972656, 0.1435461789369583, 1.037933111190796, -1.2088593244552612, 1.0312504768371582, -1.7014057636260986, 0.26706191897392273, -0.32452523708343506, 0.9957965612411499, -0.31816694140434265, 0.9170846343040466, 0.17239859700202942], "max": [0.4342338442802429, 0.23439760506153107, 1.1433453559875488, -0.4023434817790985, 1.3986551761627197, -1.2289153337478638, 0.4438721537590027, -0.0840824544429779, 1.2316538095474243, 1.2083910703659058, 2.1535427570343018, 1.4146220684051514], "mean": [0.404367595911026, 0.1661512404680252, 1.0687670707702637, -0.5558333396911621, 1.2468034029006958, -1.3769229650497437, 0.375328928232193, -0.20794863998889923, 1.1120409965515137, 0.3316800594329834, 1.5690245628356934, 0.8092711567878723], "std": [0.019173994660377502, 0.017165057361125946, 0.01699981838464737, 0.19403353333473206, 0.052539218217134476, 0.08600429445505142, 0.05466357618570328, 0.0680030807852745, 0.07528074830770493, 0.3900366723537445, 0.30342191457748413, 0.3521040380001068], "count": [1423]}, "action.tcp_pose": {"min": [0.357923686504364, 0.1435336172580719, 1.037759780883789, -1.208855390548706, 1.0313160419464111, -1.7032090425491333, 0.26703527569770813, -0.3245009481906891, 0.9957746863365173, -0.3182547688484192, 0.9164255857467651, 0.17208272218704224], "max": [0.43414658308029175, 0.23484745621681213, 1.145513653755188, -0.40198561549186707, 1.3989360332489014, -1.2289544343948364, 0.4438742697238922, -0.0843544751405716, 1.2320104837417603, 1.2073251008987427, 2.1538116931915283, 1.412505865097046], "mean": [0.4043920934200287, 0.1661493480205536, 1.0688155889511108, -0.555690348148346, 1.2466917037963867, -1.3770192861557007, 0.3752313256263733, -0.2081565260887146, 1.1119974851608276, 0.33192479610443115, 1.5691051483154297, 0.8086382746696472], "std": [0.01918083429336548, 0.017275776714086533, 0.01707332208752632, 0.19383370876312256, 0.05269777774810791, 0.08600088208913803, 0.05485749989748001, 0.06833042204380035, 0.07538304477930069, 0.3905084729194641, 0.30358707904815674, 0.3521629273891449], "count": [1423]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.535488404778636], "std": [6.783985412084067], "count": [1423]}, "observation.tactile": {"min": [-8.976463317871094, -0.009918212890625, 0.0, -0.23742961883544922, -0.024402141571044922, -0.17408466339111328, -0.08987236022949219, -0.004669189453125, -0.00885009765625, -0.08817386627197266, -0.011622428894042969, -0.0010068416595458984, -0.20298004150390625, -0.046478271484375, -0.0059814453125, -0.08285808563232422, -0.011670589447021484, -0.010629892349243164, -0.021266937255859375, -0.005828857421875, -0.00372314453125, -0.000194549560546875, -0.0012903213500976562, -0.0004930496215820312, -0.0014438629150390625, -0.001007080078125, -0.0037841796875, 0.0, -0.0012712478637695312, -0.00033402442932128906, -0.08851242065429688, -0.023468017578125, 0.0, -0.3730649948120117, -0.047301292419433594, -0.009795665740966797, -8.024322509765625, -0.014678955078125, -0.00604248046875, -0.16353321075439453, -0.01683950424194336, -0.14812660217285156, -0.0261993408203125, -0.007598876953125, -0.00506591796875, -0.00037288665771484375, -0.0009713172912597656, -0.00045013427734375, -0.009946823120117188, -0.00927734375, -0.01776123046875, -0.013768196105957031, -0.006320953369140625, -0.0007119178771972656, -0.038562774658203125, -0.00421142578125, -0.0050048828125, -0.00031566619873046875, -0.0007333755493164062, -0.0003552436828613281], "max": [0.00807952880859375, 7.142303466796875, 10.00335693359375, 0.000881195068359375, 0.005924701690673828, 0.00029969215393066406, 3.704439163208008, 6.379486083984375, 8.24127197265625, 0.00072479248046875, 0.02549457550048828, 0.0567781925201416, 3.4968490600585938, 5.092376708984375, 6.041259765625, 0.0026140213012695312, 0.014048099517822266, 0.050328969955444336, 0.013202667236328125, 0.006103515625, 0.00531005859375, 0.001308441162109375, 2.0503997802734375e-05, 0.0, 0.031030654907226562, 0.0177764892578125, 0.00537109375, 0.001407623291015625, 0.0, 4.1484832763671875e-05, 9.258716583251953, 21.078765869140625, 15.46978759765625, 0.0015087127685546875, 0.060212135314941406, 0.19629716873168945, 0.388031005859375, 7.4571533203125, 8.87896728515625, 0.008143424987792969, 0.005339145660400391, 0.011968612670898438, 0.021392822265625, 0.003173828125, 0.01556396484375, 0.0010013580322265625, 0.00033926963806152344, 1.3828277587890625e-05, 1.7509307861328125, 0.750274658203125, 0.47247314453125, 0.001068115234375, 0.0023193359375, 0.028259754180908203, 0.009960174560546875, 0.00372314453125, 0.00604248046875, 0.0008449554443359375, 7.724761962890625e-05, 3.981590270996094e-05], "mean": [-5.723796844482422, 4.241484642028809, 4.626079559326172, -0.08574520796537399, -0.0018459728453308344, -0.1198689192533493, 0.8706713318824768, 0.9521732926368713, 3.086731195449829, -0.031156914308667183, 0.005758296698331833, 0.009942032396793365, 0.2642974257469177, 0.8269265294075012, 1.3560786247253418, -0.015599851496517658, 0.000704362231772393, 0.002247543539851904, -0.0005566844483837485, 0.0008961509447544813, 0.0006093221600167453, 0.000298630737233907, -0.0004298645071685314, -0.0002122037549270317, 0.00810232013463974, 0.0031828354112803936, 0.0005028215819038451, 0.0006846858887001872, -0.0006387727917172015, -0.00017151737120002508, 1.3981971740722656, 2.9001452922821045, 3.0932953357696533, -0.07091488689184189, -0.005134649574756622, 0.02811579778790474, -0.96836918592453, 1.3684039115905762, 1.8335082530975342, -0.03578902408480644, -0.0021498892456293106, -0.018586529418826103, 0.0023238181602209806, -0.0009005795000120997, 8.942958811530843e-05, 0.00031383457826450467, -0.0003036167472600937, -0.0002548996126279235, 0.007716839201748371, 0.0011557755060493946, 0.0005711698322556913, 0.00023278499429579824, -0.0004634478536900133, -0.0003108810633420944, -0.002659042365849018, 0.0005208791117183864, 0.0009813663782551885, 0.0001600725227035582, -0.0001552321045892313, -9.669247083365917e-05], "std": [2.348813056945801, 1.8396809101104736, 2.0555801391601562, 0.039889514446258545, 0.003432685974985361, 0.048486433923244476, 0.5736778974533081, 0.7216233611106873, 1.4520459175109863, 0.016303595155477524, 0.00430998345836997, 0.008730598725378513, 0.3622922897338867, 0.6708983778953552, 0.8767825365066528, 0.011264968663454056, 0.002162267453968525, 0.004727133549749851, 0.004659209866076708, 0.001709701376967132, 0.0015450210776180029, 0.00016559739015065134, 0.00016229302855208516, 7.016591553110629e-05, 0.0033578909933567047, 0.001559410709887743, 0.001152033219113946, 0.00013914988085161895, 0.0001167538357549347, 6.20197388343513e-05, 1.823142647743225, 4.415757179260254, 4.351473331451416, 0.09891995787620544, 0.012831218540668488, 0.035124268382787704, 1.8544385433197021, 1.8480149507522583, 2.3687946796417236, 0.047095682471990585, 0.004059028346091509, 0.03508875146508217, 0.0074058109894394875, 0.0019452058477327228, 0.0018233098089694977, 0.0002694971626624465, 0.0002931156486738473, 8.048711606534198e-05, 0.059227537363767624, 0.02290523611009121, 0.013751035556197166, 0.0005203027394600213, 0.0003841781581286341, 0.0008262659539468586, 0.00553390895947814, 0.0009766590083017945, 0.0018435671227052808, 0.00017227449279744178, 0.0001299119758186862, 6.014712562318891e-05], "count": [1423]}, "timestamp": {"min": [0.0], "max": [47.4], "mean": [23.7], "std": [13.692820503217492], "count": [1423]}, "frame_index": {"min": [0], "max": [1422], "mean": [711.0], "std": [410.78461509652476], "count": [1423]}, "episode_index": {"min": [30], "max": [30], "mean": [30.0], "std": [0.0], "count": [1423]}, "index": {"min": [45865], "max": [47287], "mean": [46576.0], "std": [410.78461509652476], "count": [1423]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1423]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3442082405090332]], [[0.3434544503688812]], [[0.34332558512687683]]], "std": [[[0.2190266251564026]], [[0.21899455785751343]], [[0.21895426511764526]]], "count": [1423]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3049173057079315]], [[0.3064884543418884]], [[0.3046218454837799]]], "std": [[[0.1711900532245636]], [[0.17329470813274384]], [[0.17241646349430084]]], "count": [1423]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3091582953929901]], [[0.3082970082759857]], [[0.3067277669906616]]], "std": [[[0.17475859820842743]], [[0.17546187341213226]], [[0.17422939836978912]]], "count": [1423]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3421023190021515]], [[0.34136638045310974]], [[0.3413950204849243]]], "std": [[[0.218952015042305]], [[0.21896690130233765]], [[0.21898186206817627]]], "count": [1423]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8196078538894653]], [[0.8196078538894653]], [[0.8196078538894653]]], "mean": [[[0.006579817272722721]], [[0.006579817272722721]], [[0.006579817272722721]]], "std": [[[0.05469777435064316]], [[0.05469777435064316]], [[0.05469777435064316]]], "count": [1423]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.95686274766922]], [[0.95686274766922]], [[0.95686274766922]]], "mean": [[[0.4732806086540222]], [[0.4732806086540222]], [[0.4732806086540222]]], "std": [[[0.15221375226974487]], [[0.15221375226974487]], [[0.15221375226974487]]], "count": [1423]}}}
+{"episode_index": 31, "stats": {"observation.state": {"min": [0.803321123123169, -0.9824997782707214, 9.347694685857277e-06, 1.1959588527679443, -0.8453415632247925, -0.7700029015541077, 0.32151350378990173, 0.007351205218583345, -0.21278834342956543, -0.22123223543167114, -0.31728705763816833, 0.0027709088753908873, 0.0031149995047599077, -0.0002193109248764813, 0.00339103932492435, 0.0008597970008850098, 0.0032393739093095064, -7.506601832574233e-05, 0.003689226694405079, 0.0008686654036864638, 0.003319346345961094, 9.101160685531795e-05, 0.0030322216916829348, 0.0008832984021864831, 0.005663213320076466, 0.003281813347712159, 8.070834155660123e-05, 0.006546294316649437, 0.0008296442101709545, 0.4624027907848358, -1.1539901494979858, 0.0005614609108306468, 1.1737722158432007, -1.8369582891464233, -0.7692341208457947, -0.42860299348831177, 0.00794942770153284, -0.31721770763397217, -0.10392096638679504, -0.3020474314689636, 0.00689412048086524, 0.006631823722273111, -0.01675296016037464, 0.003495635464787483, 0.0016730346251279116, 0.012499985285103321, 0.0005585804465226829, 0.003390684723854065, 0.0027514388784766197, 0.0053458865731954575, -0.00014301798364613205, 0.0035874671302735806, 0.0025785041507333517, 0.005655721295624971, 0.01296534575521946, -0.0006012704689055681, 0.006802643183618784, 0.000854919315315783, 0.5624915957450867, -1.1069588661193848, 0.525867760181427, -0.004889563657343388, -0.0679745227098465, -0.0692208856344223, -0.8235559463500977], "max": [1.1531203985214233, -0.6023110747337341, 0.3110596835613251, 1.7597720623016357, -2.4447819669148885e-05, -0.4278166890144348, 0.5373964905738831, 1.2948640584945679, 0.00032250845106318593, 0.4676312804222107, -0.0023548579774796963, 1.01352858543396, 1.2739369869232178, 0.24287575483322144, 0.4258686602115631, 0.08736362308263779, 1.2887099981307983, 0.21222275495529175, 0.003748438786715269, 0.06390522420406342, 1.22562575340271, 0.13851690292358398, 0.19681572914123535, 0.32759594917297363, 0.058665793389081955, 0.7628712058067322, 0.1965516209602356, 0.24424877762794495, 0.21193307638168335, 1.229020357131958, -0.44044461846351624, 0.7117184400558472, 1.8710976839065552, -0.001112016150727868, 0.07283448427915573, 0.51903235912323, 1.3275657892227173, -0.0011942741693928838, 0.5296722054481506, 0.27865153551101685, 0.6491042971611023, 1.4665789604187012, 0.14331206679344177, 0.11213334649801254, 0.48497340083122253, 1.4667208194732666, 0.19959916174411774, 1.6533787250518799, 1.2433520555496216, 1.466761827468872, 0.23181307315826416, 1.6536706686019897, 0.9519274234771729, 0.13852770626544952, 1.4666427373886108, 0.18225274980068207, 1.6534191370010376, 1.308091640472412, 0.5628750920295715, -1.106767177581787, 0.5446590781211853, 0.002972087822854519, 0.0, 0.10536530613899231, -0.5707367062568665], "mean": [0.9957547187805176, -0.7039394974708557, 0.1619405746459961, 1.3780978918075562, -0.6689098477363586, -0.5560272336006165, 0.4795452654361725, 1.2513481378555298, -0.14871372282505035, 0.33964094519615173, -0.30861133337020874, 0.7951452136039734, 1.2077223062515259, 0.19781173765659332, 0.02846372313797474, 0.08474236726760864, 1.214551329612732, 0.16969116032123566, 0.0037162338849157095, 0.05491667613387108, 1.1495444774627686, 0.08097784221172333, 0.009189963340759277, 0.31390148401260376, 0.05584731698036194, 0.6950211524963379, 0.0713847205042839, 0.13063190877437592, 0.11037944257259369, 1.016877293586731, -0.7391946911811829, 0.29495522379875183, 1.4639768600463867, -1.1931365728378296, -0.26478835940361023, -0.08744830638170242, 1.2498530149459839, -0.23579683899879456, 0.23122358322143555, -0.13280412554740906, 0.5809004902839661, 1.2278145551681519, 0.06226363778114319, 0.09856339544057846, 0.43188974261283875, 1.4148731231689453, 0.15946702659130096, 1.357873797416687, 1.122223138809204, 1.357179045677185, 0.14534975588321686, 1.3821625709533691, 0.8438809514045715, 0.10638827085494995, 1.4094429016113281, 0.12458359450101852, 1.3366665840148926, 1.063446283340454, 0.5626835227012634, -1.1068434715270996, 0.5315261483192444, -0.0019415558781474829, -0.0600811168551445, 0.040135473012924194, -0.6977373957633972], "std": [0.06466157734394073, 0.09396809339523315, 0.05086859315633774, 0.14269237220287323, 0.18332022428512573, 0.04247992858290672, 0.043206680566072464, 0.14313292503356934, 0.02421005815267563, 0.15794320404529572, 0.03468070924282074, 0.09857667982578278, 0.1694955825805664, 0.03265911713242531, 0.07306556403636932, 0.01007307879626751, 0.17572861909866333, 0.026911459863185883, 8.078323844529223e-06, 0.011251317337155342, 0.17604386806488037, 0.022463617846369743, 0.030003786087036133, 0.04144272208213806, 0.008495436049997807, 0.08974077552556992, 0.03267492726445198, 0.02864549495279789, 0.025005657225847244, 0.169054314494133, 0.1594330370426178, 0.16812430322170258, 0.18508483469486237, 0.4088325798511505, 0.19168409705162048, 0.15210534632205963, 0.13804452121257782, 0.04862238094210625, 0.20399317145347595, 0.11758851259946823, 0.07021375000476837, 0.18801695108413696, 0.032896608114242554, 0.01260185707360506, 0.05911913886666298, 0.15899556875228882, 0.024502264335751534, 0.5847428441047668, 0.1908833533525467, 0.2389555126428604, 0.029957761988043785, 0.5706294178962708, 0.14124946296215057, 0.032475512474775314, 0.16494031250476837, 0.04528079926967621, 0.6182405948638916, 0.4887428283691406, 4.512588566285558e-05, 3.745030699064955e-05, 0.0036426777951419353, 0.0024936883710324764, 0.0074771675281226635, 0.045397382229566574, 0.0755939930677414], "count": [1688]}, "observation.state.joint_torque": {"min": [-35.95500183105469, -11.0625, -19.805999755859375, -12.607000350952148, -0.3463999927043915, -1.13919997215271, 0.15279999375343323, -1.1117894649505615, -0.6520460844039917, -0.7965640425682068, -0.7083330750465393, -0.388499915599823, -0.39433982968330383, -0.3837856948375702, -0.6059934496879578, -0.04352368041872978, -0.5037187337875366, -0.3195015788078308, -0.0, -0.022832093760371208, -0.5603271126747131, -0.7829228043556213, -0.14278201758861542, -0.026399608701467514, -0.08664081245660782, -0.38186678290367126, -0.5200296640396118, -0.12119869887828827, -0.026399608701467514, 2.3294999599456787, -14.03849983215332, -3.2160000801086426, -12.760000228881836, -1.7768000364303589, -2.086400032043457, -3.4688000679016113, -1.074857234954834, -1.039198398590088, -0.6586254835128784, -0.8537276983261108, -0.11289741843938828, -1.9745774269104004, -1.2146817445755005, -0.9828715920448303, -0.15197613835334778, -0.4327183663845062, -0.2648121416568756, -0.1494230479001999, -0.026399608701467514, -0.5555298328399658, -0.5113944411277771, -0.19092944264411926, -0.02925362065434456, -0.06860896944999695, -0.3319746255874634, -0.6332464218139648, -0.3370319902896881, -0.044950686395168304, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.08099937438965, 16.54800033569336, -9.954999923706055, 2.4539999961853027, 1.74399995803833, 1.8583999872207642, 4.079999923706055, 0.7246371507644653, 1.114336609840393, 1.1917393207550049, 1.0724411010742188, 0.2025512456893921, 0.9671399593353271, 0.8731124401092529, 0.30382686853408813, 0.07349080592393875, 0.6418815851211548, 0.7733281254768372, 0.0016602561809122562, 0.025686107575893402, 0.6361247897148132, 0.23986606299877167, 0.08633331209421158, 0.02425910159945488, 0.07388658821582794, 0.4375157058238983, 0.3502044379711151, 0.08965382725000381, 0.022832093760371208, 53.15850067138672, 24.57900047302246, 31.22100067138672, 5.803999900817871, 0.1624000072479248, 3.6672000885009766, 1.1375999450683594, 2.147167682647705, 4.555408000946045, 2.041738986968994, 1.5682741403579712, 0.6441793441772461, 2.141524314880371, 1.1398435831069946, 1.0559228658676147, 0.21405088901519775, 0.49124571681022644, 0.471096932888031, 0.49973708391189575, 0.02925362065434456, 0.6581924557685852, 0.6409221291542053, 0.12285894900560379, 0.03068062849342823, 0.4600319266319275, 0.26864996552467346, 0.35404232144355774, 0.4084230065345764, 0.0827663391828537, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.76642417907715, 2.741471529006958, -15.074626922607422, -5.517009258270264, 0.29694831371307373, 0.7599930763244629, 1.7703309059143066, -0.04201658070087433, 0.014263053424656391, 0.2160048633813858, 0.10355181246995926, 0.00358902127481997, 0.23959071934223175, 0.22325710952281952, 0.004940442740917206, 0.02416149340569973, -0.0056623914279043674, 0.09802809357643127, 6.884947651997209e-06, -0.0024025747552514076, 0.03343074768781662, -0.07618826627731323, -0.002088106470182538, 0.00038760752067901194, 0.00030457970569841564, 0.013304592110216618, 0.012225746177136898, -0.0025985767133533955, -0.001604958320967853, 27.62660789489746, 3.1308929920196533, 14.745096206665039, -5.832041263580322, -0.5842735767364502, 1.2298033237457275, -1.0572211742401123, -0.0067297774367034435, 0.4592542350292206, 0.1554863005876541, 0.10806381702423096, 0.03206808865070343, 0.3326652944087982, -0.0658738762140274, 0.16191358864307404, 0.0336136557161808, 0.016345711424946785, 0.009961223229765892, 0.00025769390049390495, -5.9600242821034044e-05, -0.01732548698782921, 0.044222380965948105, 0.0005547299515455961, 0.00032209185883402824, 0.04873475804924965, 0.0012862681178376079, -0.019729837775230408, -0.0007140660309232771, 0.0001817573356674984, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.29107666015625, 2.1011154651641846, 0.817010223865509, 1.3335294723510742, 0.310652494430542, 0.4459143579006195, 0.4285949468612671, 0.19322974979877472, 0.1615915149450302, 0.29351794719696045, 0.19449080526828766, 0.03020625002682209, 0.2077723741531372, 0.19189661741256714, 0.06666620820760727, 0.0163824874907732, 0.15525630116462708, 0.12079059332609177, 0.00010669246694305912, 0.005913406610488892, 0.13676774501800537, 0.1400841474533081, 0.011658808216452599, 0.005673365667462349, 0.006728416308760643, 0.09087799489498138, 0.08513957262039185, 0.01840539649128914, 0.007901886478066444, 4.551939964294434, 2.634284019470215, 1.9820244312286377, 2.1999728679656982, 0.2606894075870514, 0.669289231300354, 0.7287725806236267, 0.3607541620731354, 0.9663664102554321, 0.3280036449432373, 0.31516724824905396, 0.07883555442094803, 0.6395715475082397, 0.3054337501525879, 0.32199424505233765, 0.0645250454545021, 0.07323320209980011, 0.06657864898443222, 0.02210669405758381, 0.005106885451823473, 0.11626490205526352, 0.13997474312782288, 0.011734537780284882, 0.0070867775939404964, 0.06937544792890549, 0.058442819863557816, 0.11588752269744873, 0.022996461018919945, 0.004712013527750969, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1688]}, "observation.state.tcp": {"min": [0.34071847796440125, 0.12872911989688873, 1.0322827100753784, -1.2121890783309937, 1.1491491794586182, -1.5899183750152588, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2674763798713684, -0.3378720283508301, 1.0050055980682373, -0.3738956153392792, 0.8529999256134033, 0.15557228028774261, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4570288360118866, 0.2466687709093094, 1.1641285419464111, -0.20806659758090973, 1.4089263677597046, -1.229132890701294, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.45153293013572693, -0.12535499036312103, 1.2491551637649536, 1.2092595100402832, 2.1765613555908203, 1.367068886756897, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4023396968841553, 0.1548551768064499, 1.0868630409240723, -0.4905155897140503, 1.2439699172973633, -1.3466016054153442, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.38085120916366577, -0.22062091529369354, 1.1255186796188354, 0.32176274061203003, 1.5497736930847168, 0.8177490830421448, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.02502511441707611, 0.02186555415391922, 0.023779788985848427, 0.2334114909172058, 0.04849129542708397, 0.0655161440372467, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.053849492222070694, 0.06082531437277794, 0.0729825347661972, 0.44041499495506287, 0.2948365807533264, 0.32801228761672974, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1688]}, "action": {"min": [0.8031662702560425, -0.9828556776046753, 5.585737263972557e-18, 1.1932874917984009, -0.8453322052955627, -0.7699999809265137, 0.32070276141166687, 0.0, -0.21014457941055298, -0.22675961256027222, -0.3490658402442932, 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, 0.4624063968658447, -1.1560351848602295, 0.0029013785533607006, 1.1736475229263306, -1.8371522426605225, -0.7666715979576111, -0.4285624325275421, 0.0, -0.3299869894981384, -0.10523322224617004, -0.3024711012840271, 0.0, 0.0, -0.019835062325000763, 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, 0.5626833438873291, -1.1069231033325195, 0.5250974297523499, -0.005485857836902142, -0.06855565309524536, -0.06929941475391388, -0.8235158324241638], "max": [1.153178095817566, -0.6022021174430847, 0.3111056387424469, 1.7598576545715332, 1.1498801063270617e-18, -0.42733141779899597, 0.5371239185333252, 1.3007197380065918, 0.0, 0.4755063056945801, 0.0, 1.020020604133606, 1.2820069789886475, 0.24372127652168274, 0.4317474365234375, 0.09088841080665588, 1.2963262796401978, 0.21448034048080444, 0.0, 0.06644053757190704, 1.2339376211166382, 0.13912361860275269, 0.20220573246479034, 0.3297773003578186, 0.0772167444229126, 0.772167444229126, 0.19501793384552002, 0.25005796551704407, 0.21468056738376617, 1.230170726776123, -0.44040781259536743, 0.7122381925582886, 1.8713316917419434, -0.0050083063542842865, 0.07296491414308548, 0.5154322981834412, 1.3262224197387695, 0.0, 0.5301224589347839, 0.2883031964302063, 0.6525170803070068, 1.5469119548797607, 0.1432463526725769, 0.11408917605876923, 0.48976194858551025, 1.5707963705062866, 0.19866126775741577, 1.7453292608261108, 1.2474141120910645, 1.5707963705062866, 0.23221701383590698, 1.7453292608261108, 0.9543278217315674, 0.15056978166103363, 1.5707963705062866, 0.18974488973617554, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.5448177456855774, 0.0034633101895451546, -5.019414261442721e-18, 0.10548636317253113, -0.5702186822891235], "mean": [0.9957292079925537, -0.704031765460968, 0.16193948686122894, 1.3782339096069336, -0.6690473556518555, -0.5559899210929871, 0.4795726537704468, 1.245958685874939, -0.14957372844219208, 0.34435391426086426, -0.3426857888698578, 0.7964939475059509, 1.2097783088684082, 0.2012043446302414, 0.02884068712592125, 0.08735650777816772, 1.2158766984939575, 0.17181138694286346, 0.0, 0.05747761204838753, 1.1502511501312256, 0.08187062293291092, 0.006800987292081118, 0.314951092004776, 0.06980142742395401, 0.6980160474777222, 0.07409609854221344, 0.13155680894851685, 0.11275950074195862, 1.01741623878479, -0.7397239208221436, 0.29453006386756897, 1.4640315771102905, -1.1929160356521606, -0.2649833858013153, -0.08745210617780685, 1.2501643896102905, -0.23432821035385132, 0.23292264342308044, -0.1339702159166336, 0.5827803611755371, 1.236680507659912, 0.06157388910651207, 0.10103072971105576, 0.43441298604011536, 1.5001988410949707, 0.16146935522556305, 1.4226953983306885, 1.1234679222106934, 1.4324229955673218, 0.1449631303548813, 1.4546928405761719, 0.8459327220916748, 0.12239878624677658, 1.4967873096466064, 0.1252279132604599, 1.3998206853866577, 1.1315808296203613, 0.5626831650733948, -1.1068452596664429, 0.5315781831741333, -0.0019659516401588917, -0.0601203516125679, 0.04014914482831955, -0.697789192199707], "std": [0.06485241651535034, 0.0940791442990303, 0.05095028132200241, 0.14278146624565125, 0.1832779198884964, 0.0425415001809597, 0.043228521943092346, 0.15954257547855377, 0.026642808690667152, 0.1610528975725174, 0.046110183000564575, 0.1176360622048378, 0.1851654201745987, 0.03655959293246269, 0.07856958359479904, 0.011813536286354065, 0.18819457292556763, 0.030410874634981155, 0.0, 0.011443373747169971, 0.18671640753746033, 0.024084558710455894, 0.0334283784031868, 0.04556726664304733, 0.010062295943498611, 0.10062296688556671, 0.03383326902985573, 0.03140231594443321, 0.026917437091469765, 0.1687398999929428, 0.16000761091709137, 0.16807571053504944, 0.18514493107795715, 0.4090627133846283, 0.191693976521492, 0.15222392976284027, 0.15744304656982422, 0.054982855916023254, 0.20452630519866943, 0.11776759475469589, 0.08203259110450745, 0.2082616090774536, 0.033882688730955124, 0.014299345202744007, 0.0674930214881897, 0.2046145349740982, 0.027396801859140396, 0.616216778755188, 0.20140588283538818, 0.2800457775592804, 0.03165798634290695, 0.6089231371879578, 0.1478089541196823, 0.031847335398197174, 0.21266493201255798, 0.04642797261476517, 0.6502720713615417, 0.5218596458435059, 1.797589419538781e-07, 1.971599704120308e-05, 0.0036860001273453236, 0.0025415425188839436, 0.007822929881513119, 0.045476216822862625, 0.07567392289638519], "count": [1688]}, "observation.state.tcp_pose": {"min": [0.34071847796440125, 0.12872911989688873, 1.0322827100753784, -1.2121890783309937, 1.1491491794586182, -1.5899183750152588, 0.2674763798713684, -0.3378720283508301, 1.0050055980682373, -0.3738956153392792, 0.8529999256134033, 0.15557228028774261], "max": [0.4570288360118866, 0.2466687709093094, 1.1641285419464111, -0.20806659758090973, 1.4089263677597046, -1.229132890701294, 0.45153293013572693, -0.12535499036312103, 1.2491551637649536, 1.2092595100402832, 2.1765613555908203, 1.367068886756897], "mean": [0.4023396968841553, 0.1548551768064499, 1.0868630409240723, -0.4905155897140503, 1.2439699172973633, -1.3466016054153442, 0.38085120916366577, -0.22062091529369354, 1.1255186796188354, 0.32176274061203003, 1.5497736930847168, 0.8177490830421448], "std": [0.02502511441707611, 0.02186555415391922, 0.023779788985848427, 0.2334114909172058, 0.04849129542708397, 0.0655161440372467, 0.053849492222070694, 0.06082531437277794, 0.0729825347661972, 0.44041499495506287, 0.2948365807533264, 0.32801228761672974], "count": [1688]}, "action.tcp_pose": {"min": [0.3410172164440155, 0.12892849743366241, 1.031616449356079, -1.2109707593917847, 1.1498314142227173, -1.5903033018112183, 0.2674575746059418, -0.33801108598709106, 1.0049819946289062, -0.3757460415363312, 0.8522560596466064, 0.1548558920621872], "max": [0.45752495527267456, 0.24810589849948883, 1.1652201414108276, -0.20725661516189575, 1.4111275672912598, -1.2289544343948364, 0.4516085684299469, -0.12506070733070374, 1.2511476278305054, 1.2202575206756592, 2.1769261360168457, 1.3779990673065186], "mean": [0.40231746435165405, 0.1548430621623993, 1.08684504032135, -0.490359365940094, 1.244077444076538, -1.3466776609420776, 0.3808281421661377, -0.2208375632762909, 1.1256284713745117, 0.3217700719833374, 1.5496010780334473, 0.8172126412391663], "std": [0.025051821023225784, 0.021951943635940552, 0.023905450478196144, 0.23346777260303497, 0.04874987155199051, 0.06552424281835556, 0.05388851836323738, 0.06108446046710014, 0.07309386134147644, 0.44066983461380005, 0.29494014382362366, 0.3281524181365967], "count": [1688]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.757109004739336], "std": [7.1528014054259845], "count": [1688]}, "observation.tactile": {"min": [-10.085826873779297, -0.004852294921875, -0.00030517578125, -0.2136068344116211, -0.015863418579101562, -0.17567181587219238, -0.6635284423828125, -0.00146484375, -0.001953125, -0.09844684600830078, -0.015572071075439453, -0.01476740837097168, -0.038257598876953125, -0.003936767578125, -0.0042724609375, -0.0007104873657226562, -0.0024194717407226562, -0.0006430149078369141, -0.013607025146484375, -0.02410888671875, -0.0040283203125, -0.02486896514892578, -0.008206367492675781, -0.0007460117340087891, -0.00263214111328125, -0.00152587890625, -0.0047607421875, -1.52587890625e-05, -0.0012578964233398438, -0.00033855438232421875, -0.21216583251953125, -0.014678955078125, -0.0008544921875, -0.39879322052001953, -0.041559696197509766, -0.006398916244506836, -5.934177398681641, -0.006439208984375, -0.00360107421875, -0.20452022552490234, -0.025365829467773438, -0.12139511108398438, -0.017541885375976562, -0.00384521484375, -0.0008544921875, -0.0001983642578125, -0.0010075569152832031, -0.0005118846893310547, -0.014179229736328125, -0.0167236328125, -0.004638671875, -0.008742332458496094, -0.001735687255859375, -0.0007605552673339844, -0.024539947509765625, -0.01251220703125, -0.00384521484375, -0.000263214111328125, -0.0004057884216308594, -0.0004642009735107422], "max": [0.8687629699707031, 6.208587646484375, 8.91705322265625, 0.001407623291015625, 0.0073032379150390625, 0.023745298385620117, 2.6055145263671875, 4.055999755859375, 7.2655029296875, 0.0017423629760742188, 0.011619091033935547, 0.04461216926574707, 0.09034347534179688, 0.08892822265625, 0.06988525390625, 0.0005130767822265625, 2.384185791015625e-06, 0.000141143798828125, 1.3615913391113281, 1.819061279296875, 3.0660400390625, 0.0017042160034179688, 0.0009732246398925781, 0.022519826889038086, 0.05165863037109375, 0.035186767578125, 0.005126953125, 0.0015659332275390625, 7.772445678710938e-05, 0.0003955364227294922, 10.649406433105469, 18.79742431640625, 15.69635009765625, 0.001384735107421875, 0.06378698348999023, 0.20020508766174316, 1.6546897888183594, 8.391510009765625, 10.0433349609375, 0.011513710021972656, 0.03386878967285156, 0.038150787353515625, 0.07539939880371094, 0.022247314453125, 0.04595947265625, 0.001422882080078125, 0.0005249977111816406, 0.0005080699920654297, 0.8889923095703125, 0.224029541015625, 0.64739990234375, 0.0011081695556640625, 0.003376007080078125, 0.017359256744384766, 0.009777069091796875, 0.001312255859375, 0.019775390625, 0.0005207061767578125, 0.00029158592224121094, 4.482269287109375e-05], "mean": [-4.227514743804932, 2.242626667022705, 3.0460195541381836, -0.05719099938869476, 0.0020015831105411053, -0.09041193127632141, 0.3184237480163574, 0.5818241834640503, 1.9683314561843872, -0.021781031042337418, 0.004649423528462648, 0.0042333886958658695, -0.019569702446460724, 0.0026453027967363596, 0.00018673937302082777, 0.00012056070409016684, -0.0003531990514602512, -8.30134522402659e-05, 0.020357651636004448, 0.00410261657088995, 0.01782161556184292, 6.235888577066362e-05, -0.0004753957618959248, -0.0001643188443267718, 0.010505651123821735, 0.003943357616662979, -0.0005513412761501968, 0.000820530520286411, -0.0006631519645452499, -0.00013949075946584344, 1.8401387929916382, 2.7322945594787598, 2.9466378688812256, -0.07013701647520065, -0.0005289833061397076, 0.03771743178367615, -0.5572715997695923, 1.3668617010116577, 1.6809293031692505, -0.034897126257419586, -0.004080385901033878, -0.010618014261126518, 0.04230351373553276, 0.0011286713415756822, 0.005871614441275597, 0.0008591249934397638, -0.0003811211499851197, -4.404790161061101e-05, 0.056243933737277985, 0.004474631045013666, 0.026380836963653564, 0.00028622488025575876, -0.0004457499599084258, 0.0005481194821186364, -0.003517652628943324, -0.0035161746200174093, 0.0025412754621356726, 5.5222149967448786e-05, 5.987258191453293e-05, -0.00022653247287962586], "std": [2.2590858936309814, 1.3006446361541748, 1.7568283081054688, 0.03585774824023247, 0.0028426293283700943, 0.0470583438873291, 0.45494958758354187, 0.577003002166748, 1.3050611019134521, 0.01485433243215084, 0.004307074472308159, 0.007016440387815237, 0.009832493029534817, 0.005902186501771212, 0.0036507451441138983, 0.00011159873247379437, 0.00015972391702234745, 6.0457819927250966e-05, 0.09113875031471252, 0.11171767860651016, 0.1958947330713272, 0.0016395233105868101, 0.0005810828297398984, 0.0014720628969371319, 0.0063331290148198605, 0.0016639844980090857, 0.0013082845835015178, 0.00021156486764084548, 0.00015876369434408844, 7.255856326082721e-05, 2.4562759399414062, 4.349327564239502, 4.404617786407471, 0.10592208057641983, 0.012946230359375477, 0.05118440464138985, 1.1547201871871948, 2.0033671855926514, 2.522754430770874, 0.05423731729388237, 0.006907693576067686, 0.022364353761076927, 0.01791049726307392, 0.0020861595403403044, 0.0030707709956914186, 0.0002423249534331262, 0.00021631826530210674, 0.00021034938981756568, 0.1145283579826355, 0.022019704803824425, 0.05990493670105934, 0.0008690514951013029, 0.00041471284930594265, 0.0026405751705169678, 0.006342223379760981, 0.001590460422448814, 0.0023395847529172897, 0.00011013781477231532, 8.236154826590791e-05, 7.073849701555446e-05], "count": [1688]}, "timestamp": {"min": [0.0], "max": [56.233333333333334], "mean": [28.116666666666664], "std": [16.242784722933305], "count": [1688]}, "frame_index": {"min": [0], "max": [1687], "mean": [843.5], "std": [487.28354168799916], "count": [1688]}, "episode_index": {"min": [31], "max": [31], "mean": [31.0], "std": [0.0], "count": [1688]}, "index": {"min": [47288], "max": [48975], "mean": [48131.5], "std": [487.28354168799916], "count": [1688]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1688]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34788548946380615]], [[0.347091406583786]], [[0.3467896282672882]]], "std": [[[0.22120587527751923]], [[0.22113902866840363]], [[0.22098113596439362]]], "count": [1688]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30504557490348816]], [[0.30713412165641785]], [[0.305870920419693]]], "std": [[[0.171990305185318]], [[0.1742832213640213]], [[0.17351356148719788]]], "count": [1688]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31025880575180054]], [[0.30964723229408264]], [[0.30795398354530334]]], "std": [[[0.17495675384998322]], [[0.1758432537317276]], [[0.17455533146858215]]], "count": [1688]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34669747948646545]], [[0.3458845317363739]], [[0.345711350440979]]], "std": [[[0.2215891033411026]], [[0.22155170142650604]], [[0.22148087620735168]]], "count": [1688]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7568627595901489]], [[0.7568627595901489]], [[0.7568627595901489]]], "mean": [[[0.00456673838198185]], [[0.00456673838198185]], [[0.00456673838198185]]], "std": [[[0.04587937518954277]], [[0.04587937518954277]], [[0.04587937518954277]]], "count": [1688]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.9764705896377563]], [[0.9764705896377563]], [[0.9764705896377563]]], "mean": [[[0.47370755672454834]], [[0.47370755672454834]], [[0.47370755672454834]]], "std": [[[0.1517448127269745]], [[0.1517448127269745]], [[0.1517448127269745]]], "count": [1688]}}}
+{"episode_index": 32, "stats": {"observation.state": {"min": [0.8309770822525024, -0.8627586364746094, -2.516687118259142e-06, 1.1565200090408325, -0.8742020130157471, -0.7700158357620239, 0.4077470600605011, 0.0076218596659600735, -0.2067694514989853, -0.17195121943950653, -0.3170834481716156, 0.0023823080118745565, 0.003111565252766013, -8.659597369842231e-05, 0.003417631611227989, 0.0008469377062283456, 0.003924291115254164, -0.0006812374340370297, 0.003512654220685363, 0.0008788642007857561, 0.0033458401449024677, 0.00011308994726277888, 0.0030183938797563314, 0.0008828549762256444, 0.005734927020967007, 0.003257036441937089, 7.776457641739398e-05, 0.006410851143300533, 0.0008500416879542172, 0.509280264377594, -1.1051435470581055, 0.0007011969573795795, 1.1529968976974487, -1.7926058769226074, -0.7693533897399902, -0.43598467111587524, 0.0074953860603272915, -0.3222401738166809, -0.19041602313518524, -0.3046390414237976, 0.00689979363232851, 0.003137568710371852, -0.0004241464484948665, 0.0035002445802092552, 0.0012065536575391889, 0.006132118869572878, 3.802362334681675e-05, 0.0033935212995857, 0.0017705876380205154, 0.0032943245023489, -0.0001454713346902281, 0.0035303824115544558, 0.0017590586794540286, 0.010003476403653622, 0.0061784833669662476, -4.562865797197446e-05, 0.003261978505179286, 0.0008633443503640592, 0.5624915957450867, -1.106863021850586, 0.5122537016868591, -0.007861651480197906, -0.05694903805851936, -0.07727428525686264, -0.8499212265014648], "max": [1.0500164031982422, -0.5466393828392029, 0.37237241864204407, 1.6709543466567993, 1.5579491901007714e-06, -0.40951618552207947, 0.6086075901985168, 1.246077537536621, -6.468214996857569e-05, 0.5120095610618591, -0.0024542950559407473, 0.9372387528419495, 1.242828130722046, 0.2381618469953537, 0.19654199481010437, 0.08768954128026962, 1.3390330076217651, 0.2120167464017868, 0.022390291094779968, 0.12172135710716248, 1.1736012697219849, 0.13588392734527588, 0.14503324031829834, 0.34116116166114807, 0.061700236052274704, 0.7807366847991943, 0.19279365241527557, 0.2154036909341812, 0.1888316422700882, 1.2474173307418823, -0.42402544617652893, 0.8146771788597107, 1.9088138341903687, -0.0010984741384163499, 0.10490570962429047, 0.5190597772598267, 1.3194968700408936, 0.00020615255925804377, 0.5494706034660339, 0.31477195024490356, 0.6145347356796265, 1.4597276449203491, 0.12282121181488037, 0.1081058606505394, 0.49892038106918335, 1.4651628732681274, 0.1949676126241684, 1.6533366441726685, 1.2595542669296265, 1.4667845964431763, 0.22915972769260406, 1.6558454036712646, 0.9195224642753601, 0.14800028502941132, 1.4666048288345337, 0.1783169060945511, 1.6534395217895508, 1.3081157207489014, 0.563066840171814, -1.1065753698349, 0.5441796779632568, 0.0, 0.0, 0.11361045390367508, -0.5936505794525146], "mean": [0.9521502256393433, -0.620551347732544, 0.20971108973026276, 1.2554634809494019, -0.7225008010864258, -0.5168876647949219, 0.5385729074478149, 1.2001309394836426, -0.16617748141288757, 0.3810317814350128, -0.3065642714500427, 0.7702226638793945, 1.1825042963027954, 0.20654110610485077, 0.13094860315322876, 0.08437050133943558, 1.2563680410385132, 0.1845797747373581, 0.003949011210352182, 0.10372935235500336, 1.1100777387619019, 0.09746751934289932, 0.0793648362159729, 0.320483535528183, 0.05972551181912422, 0.7196162343025208, 0.1083531379699707, 0.1780567318201065, 0.1527853161096573, 0.9621273279190063, -0.7297450304031372, 0.3438189923763275, 1.45354425907135, -1.1823196411132812, -0.20367905497550964, -0.10809990018606186, 1.226050853729248, -0.2369585931301117, 0.21069085597991943, -0.09817583113908768, 0.5570377707481384, 1.2291254997253418, 0.05991564691066742, 0.09717954695224762, 0.422129362821579, 1.3972173929214478, 0.15436169505119324, 1.3344554901123047, 1.1021952629089355, 1.318967580795288, 0.14219313859939575, 1.4705003499984741, 0.824172854423523, 0.11706014722585678, 1.4317139387130737, 0.12137312442064285, 1.3566027879714966, 1.079134225845337, 0.562683641910553, -1.1067759990692139, 0.5183863043785095, -0.00567833473905921, -0.04673751816153526, 0.01914948597550392, -0.7181553840637207], "std": [0.036550022661685944, 0.09324382245540619, 0.048126474022865295, 0.1349542737007141, 0.2164466828107834, 0.04413987323641777, 0.03205002471804619, 0.16774693131446838, 0.024459686130285263, 0.16889947652816772, 0.04211321845650673, 0.11121566593647003, 0.18040528893470764, 0.03878125548362732, 0.05462648347020149, 0.012080840766429901, 0.21990960836410522, 0.02828521467745304, 0.002176724374294281, 0.037923816591501236, 0.1852087825536728, 0.01791253313422203, 0.03491128981113434, 0.05669569969177246, 0.008639355190098286, 0.11146723479032516, 0.02419973723590374, 0.062493301928043365, 0.05430751293897629, 0.17554210126399994, 0.17503531277179718, 0.17709039151668549, 0.18301425874233246, 0.43932560086250305, 0.17727617919445038, 0.17012330889701843, 0.1722661703824997, 0.06590859591960907, 0.23088140785694122, 0.14895883202552795, 0.08078698813915253, 0.222550630569458, 0.024303628131747246, 0.014432438649237156, 0.07252765446901321, 0.19646793603897095, 0.02436387911438942, 0.5887976884841919, 0.22779276967048645, 0.29210931062698364, 0.026994280517101288, 0.40997326374053955, 0.15199503302574158, 0.03143489733338356, 0.17514663934707642, 0.0267434474080801, 0.5983839631080627, 0.47283563017845154, 5.3283765737432986e-05, 2.943699473689776e-05, 0.004069488029927015, 0.0018352980259805918, 0.007245233282446861, 0.040646616369485855, 0.08756066113710403], "count": [1282]}, "observation.state.joint_torque": {"min": [-41.230499267578125, -6.142499923706055, -21.768999099731445, -12.081999778747559, -0.38960000872612, -1.1239999532699585, 0.8855999708175659, -1.1614570617675781, -0.5896431803703308, -0.8562130928039551, -0.7692248225212097, -0.3984614610671997, -0.5238674879074097, -0.5478540658950806, -0.24571789801120758, -0.04709119349718094, -0.5171512365341187, -0.3262178599834442, -0.08633331209421158, -0.022118592634797096, -0.4922051727771759, -0.7464631795883179, -0.11621791869401932, -0.03139413148164749, -0.09279802441596985, -0.4499887228012085, -0.4547860622406006, -0.10791664570569992, -0.026399608701467514, 13.912500381469727, -8.08650016784668, 7.11299991607666, -12.234999656677246, -1.7264000177383423, -0.8151999711990356, -3.62719988822937, -1.370315670967102, -1.0137279033660889, -0.7406430244445801, -0.7567979693412781, -0.13116022944450378, -0.5804758667945862, -1.0736404657363892, -0.09961536526679993, -0.02425910159945488, -0.8472068905830383, -0.3818667531013489, -0.7853010892868042, -0.02354559674859047, -0.5075565576553345, -0.6111787557601929, -0.21417304873466492, -0.04780469834804535, -0.05409553274512291, -0.7752470374107361, -1.1254515647888184, -0.5047178864479065, -0.09275539219379425, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-16.522499084472656, 11.383500099182129, -7.164999961853027, -0.33899998664855957, 1.7200000286102295, 1.7624000310897827, 4.4303998947143555, 0.7806724309921265, 1.1436277627944946, 1.3930550813674927, 1.0624996423721313, 0.2556794285774231, 1.232911467552185, 0.9863292574882507, 0.6176152229309082, 0.08562035858631134, 0.5401783585548401, 0.6265301704406738, 0.05644870921969414, 0.0321076326072216, 0.5017998218536377, 0.14871695637702942, 0.10957689583301544, 0.02354559674859047, 0.08136319369077682, 0.39242085814476013, 0.33677196502685547, 0.0979551151394844, 0.022118592634797096, 54.483001708984375, 13.654500007629395, 30.628000259399414, 1.0640000104904175, 0.19280000030994415, 3.3671998977661133, 0.7143999934196472, 1.670868158340454, 3.323906898498535, 1.3532888889312744, 1.4067245721817017, 0.449929416179657, 1.975536823272705, 0.841450035572052, 0.9712498188018799, 0.21405088901519775, 1.139843463897705, 0.3770694434642792, 0.39348068833351135, 0.022832093760371208, 0.9402749538421631, 1.1302489042282104, 0.17432688176631927, 0.02497260272502899, 0.49125784635543823, 0.3626774847507477, 0.36555588245391846, 0.39348068833351135, 0.0706368014216423, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.90576171875, 2.4063899517059326, -14.406853675842285, -6.009573459625244, 0.1461559683084488, 0.8195334076881409, 1.7105680704116821, -0.0678962990641594, 0.06856587529182434, 0.3411549925804138, 0.15307854115962982, 0.012779577635228634, 0.2591347396373749, 0.20395271480083466, 0.10438109189271927, 0.02886015549302101, -0.0035923197865486145, 0.09983383864164352, -0.0008534378139302135, 0.0004519231151789427, 0.0041364943608641624, -0.05740424990653992, -0.0013999465154483914, -0.00190619973000139, -0.00016466807574033737, 0.015759997069835663, 0.015336452051997185, 0.0008353104931302369, 0.0007385524804703891, 27.63836669921875, 3.529744863510132, 14.601664543151855, -6.335759162902832, -0.5744830965995789, 1.1724576950073242, -1.108386516571045, 0.05495840311050415, 0.47937074303627014, 0.15378804504871368, 0.04852594435214996, 0.05040859431028366, 0.3391866087913513, -0.1609461009502411, 0.15229785442352295, 0.039376817643642426, 0.008370957337319851, -0.00995013676583767, 0.0008689825190231204, 0.0016095507889986038, -0.011117658577859402, 0.0906321331858635, 0.0021161159966140985, -0.0004396773874759674, 0.10645034909248352, -0.007087470032274723, -0.11276311427354813, -0.0036999587900936604, -0.00046694930642843246, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.2457613945007324, 1.772794246673584, 0.9553965330123901, 1.1325488090515137, 0.34721818566322327, 0.4477897882461548, 0.43637412786483765, 0.23250296711921692, 0.19505396485328674, 0.33346864581108093, 0.22815214097499847, 0.04799183830618858, 0.22562389075756073, 0.20345255732536316, 0.1234237477183342, 0.018861152231693268, 0.1312575787305832, 0.14081159234046936, 0.006396775133907795, 0.004957331344485283, 0.1071612536907196, 0.114153653383255, 0.014219650998711586, 0.006676314864307642, 0.007784533314406872, 0.0909891277551651, 0.07901985198259354, 0.019811460748314857, 0.007543080952018499, 4.399534702301025, 2.8141934871673584, 1.746098518371582, 2.211231231689453, 0.3219132721424103, 0.7127511501312256, 0.7330443859100342, 0.43457159399986267, 0.8472880721092224, 0.28354406356811523, 0.31670960783958435, 0.08981538563966751, 0.5439075231552124, 0.33169275522232056, 0.24350719153881073, 0.059995390474796295, 0.0774170532822609, 0.07562153041362762, 0.03389333188533783, 0.006208992563188076, 0.125601127743721, 0.2000998705625534, 0.018556419759988785, 0.007958155125379562, 0.12688902020454407, 0.09876931458711624, 0.20186983048915863, 0.03133605793118477, 0.006234131753444672, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1282]}, "observation.state.tcp": {"min": [0.35414648056030273, 0.1309540867805481, 1.0425593852996826, -1.2088572978973389, 1.0915309190750122, -1.6091902256011963, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2789582908153534, -0.3627358078956604, 1.0074604749679565, -0.3343229293823242, 1.0282583236694336, 0.13924060761928558, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.43890440464019775, 0.23430505394935608, 1.1469823122024536, -0.25458425283432007, 1.3855032920837402, -1.2289292812347412, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.44614580273628235, -0.09787499904632568, 1.2464417219161987, 1.208418607711792, 2.120884418487549, 1.605216145515442, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.40859493613243103, 0.1531781405210495, 1.0745890140533447, -0.4558674991130829, 1.2042932510375977, -1.350435733795166, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.37830185890197754, -0.2148105949163437, 1.1178250312805176, 0.3498977720737457, 1.597098708152771, 0.8398585319519043, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.020350679755210876, 0.02367047592997551, 0.016921022906899452, 0.24231956899166107, 0.04478226229548454, 0.07419659942388535, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05362587422132492, 0.06289023905992508, 0.07194230705499649, 0.4525914788246155, 0.2731315791606903, 0.4094647765159607, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1282]}, "action": {"min": [0.8308789730072021, -0.8629061579704285, 1.2686192776401193e-17, 1.1564857959747314, -0.8741906881332397, -0.7699999809265137, 0.4077613353729248, 0.0, -0.20880228281021118, -0.17835302650928497, -0.3490658402442932, 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, 0.5092893838882446, -1.105489730834961, 0.001055121305398643, 1.1528425216674805, -1.7925797700881958, -0.7688421607017517, -0.4360406994819641, 0.0, -0.3490658402442932, -0.19353297352790833, -0.3061143755912781, 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, 0.5626833438873291, -1.1069231033325195, 0.5120378732681274, -0.008131577633321285, -0.057675331830978394, -0.07903511077165604, -0.8499891757965088], "max": [1.0499999523162842, -0.5465849041938782, 0.3724178969860077, 1.6710482835769653, 1.884932692335414e-17, -0.40919944643974304, 0.6093467473983765, 1.2528787851333618, 0.0, 0.5163198113441467, 0.0, 0.9420846104621887, 1.2493364810943604, 0.24151700735092163, 0.20346029102802277, 0.09261403232812881, 1.3416656255722046, 0.21630185842514038, 0.02819678746163845, 0.12328391522169113, 1.173987865447998, 0.1392194628715515, 0.1516108512878418, 0.3427489697933197, 0.07893288135528564, 0.7893288135528564, 0.1919499635696411, 0.22361592948436737, 0.19132575392723083, 1.250055193901062, -0.42399877309799194, 0.8155629634857178, 1.9089915752410889, -0.00169269903562963, 0.10492588579654694, 0.5185927748680115, 1.3145256042480469, 0.0, 0.5530363321304321, 0.3490658402442932, 0.6178107261657715, 1.5367244482040405, 0.11227887123823166, 0.11497443914413452, 0.5028774738311768, 1.5707963705062866, 0.196072518825531, 1.7453292608261108, 1.2628016471862793, 1.5707963705062866, 0.2302038073539734, 1.7453292608261108, 0.9235525131225586, 0.1604543775320053, 1.5707963705062866, 0.18466371297836304, 1.7453292608261108, 1.3962633609771729, 0.5627791881561279, -1.106767177581787, 0.5442397594451904, 4.2155321214204384e-19, 3.848782985281271e-19, 0.11390464007854462, -0.5927352905273438], "mean": [0.9522184133529663, -0.6206423044204712, 0.20966607332229614, 1.255545973777771, -0.7224475741386414, -0.5169114470481873, 0.5386450886726379, 1.1962469816207886, -0.16504815220832825, 0.3874039351940155, -0.34005022048950195, 0.7704827189445496, 1.189009428024292, 0.20771104097366333, 0.13446544110774994, 0.088340625166893, 1.2580162286758423, 0.18826326727867126, 0.00040073387208394706, 0.10581693053245544, 1.1122546195983887, 0.10181675851345062, 0.08078828454017639, 0.32300448417663574, 0.07235889881849289, 0.7235895991325378, 0.11070696264505386, 0.1816585212945938, 0.15571288764476776, 0.9628399610519409, -0.7305276989936829, 0.3431796133518219, 1.4536583423614502, -1.1815944910049438, -0.20362523198127747, -0.10822610557079315, 1.2277706861495972, -0.23934035003185272, 0.2122596651315689, -0.09786610305309296, 0.5598479509353638, 1.236851692199707, 0.05834941938519478, 0.0998394563794136, 0.4245232343673706, 1.4836077690124512, 0.15463927388191223, 1.3994032144546509, 1.1049925088882446, 1.3929892778396606, 0.14248378574848175, 1.546328067779541, 0.8262367844581604, 0.13151238858699799, 1.521240472793579, 0.1225726380944252, 1.4232208728790283, 1.1478081941604614, 0.5627813339233398, -1.1067781448364258, 0.5184375047683716, -0.005724017508327961, -0.04677920415997505, 0.019174138084053993, -0.7182201743125916], "std": [0.03648022562265396, 0.09342729300260544, 0.048240553587675095, 0.13523012399673462, 0.21662908792495728, 0.044260237365961075, 0.0319189727306366, 0.18317122757434845, 0.02716226875782013, 0.1707627773284912, 0.05360665172338486, 0.12841841578483582, 0.19609931111335754, 0.04030743986368179, 0.05717922002077103, 0.013980384916067123, 0.22953489422798157, 0.031819120049476624, 0.003066528821364045, 0.039043258875608444, 0.19549377262592316, 0.020256314426660538, 0.03696446865797043, 0.05833497270941734, 0.012138057500123978, 0.12138058990240097, 0.02694706618785858, 0.06376010924577713, 0.05465071275830269, 0.17562958598136902, 0.1759186089038849, 0.17693397402763367, 0.18343378603458405, 0.43934381008148193, 0.17742808163166046, 0.1701253056526184, 0.18930737674236298, 0.07697311788797379, 0.23171132802963257, 0.15523742139339447, 0.0919547975063324, 0.23824217915534973, 0.021471090614795685, 0.01644037663936615, 0.0799986869096756, 0.24277591705322266, 0.026885993778705597, 0.6231358647346497, 0.23388126492500305, 0.33970752358436584, 0.02886851131916046, 0.43818798661231995, 0.1584974080324173, 0.033774491399526596, 0.21689806878566742, 0.028297731652855873, 0.6320905089378357, 0.5056178569793701, 1.6012872947612777e-05, 2.244889947178308e-05, 0.004244063515216112, 0.0018539002630859613, 0.007553355768322945, 0.04069950431585312, 0.08764468878507614], "count": [1282]}, "observation.state.tcp_pose": {"min": [0.35414648056030273, 0.1309540867805481, 1.0425593852996826, -1.2088572978973389, 1.0915309190750122, -1.6091902256011963, 0.2789582908153534, -0.3627358078956604, 1.0074604749679565, -0.3343229293823242, 1.0282583236694336, 0.13924060761928558], "max": [0.43890440464019775, 0.23430505394935608, 1.1469823122024536, -0.25458425283432007, 1.3855032920837402, -1.2289292812347412, 0.44614580273628235, -0.09787499904632568, 1.2464417219161987, 1.208418607711792, 2.120884418487549, 1.605216145515442], "mean": [0.40859493613243103, 0.1531781405210495, 1.0745890140533447, -0.4558674991130829, 1.2042932510375977, -1.350435733795166, 0.37830185890197754, -0.2148105949163437, 1.1178250312805176, 0.3498977720737457, 1.597098708152771, 0.8398585319519043], "std": [0.020350679755210876, 0.02367047592997551, 0.016921022906899452, 0.24231956899166107, 0.04478226229548454, 0.07419659942388535, 0.05362587422132492, 0.06289023905992508, 0.07194230705499649, 0.4525914788246155, 0.2731315791606903, 0.4094647765159607], "count": [1282]}, "action.tcp_pose": {"min": [0.3545798361301422, 0.13101911544799805, 1.042382001876831, -1.208855390548706, 1.090381145477295, -1.6098779439926147, 0.2793671488761902, -0.3637261688709259, 1.0071972608566284, -0.3346087336540222, 1.0249686241149902, 0.13675281405448914], "max": [0.4397798180580139, 0.2349756956100464, 1.147255301475525, -0.255001425743103, 1.3856362104415894, -1.2289544343948364, 0.4464362561702728, -0.09779371321201324, 1.2464572191238403, 1.2081081867218018, 2.120858669281006, 1.6157176494598389], "mean": [0.4086765646934509, 0.15318796038627625, 1.0745447874069214, -0.455897718667984, 1.2043185234069824, -1.3504918813705444, 0.37832754850387573, -0.21511976420879364, 1.1179158687591553, 0.35015836358070374, 1.597463846206665, 0.839149534702301], "std": [0.020360851660370827, 0.023835401982069016, 0.016967540606856346, 0.24230831861495972, 0.0447973757982254, 0.07424482703208923, 0.05370047315955162, 0.06345932185649872, 0.07201554626226425, 0.4527329206466675, 0.2731381058692932, 0.4096711277961731], "count": [1282]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.425897035881436], "std": [6.957944774872709], "count": [1282]}, "observation.tactile": {"min": [-9.210559844970703, -0.0013427734375, -0.00372314453125, -0.19748210906982422, -0.015655040740966797, -0.17531824111938477, -1.0184059143066406, -0.00238037109375, -0.00079345703125, -0.12267589569091797, -0.01120138168334961, -0.020172119140625, -0.08284378051757812, -0.014312744140625, -0.00274658203125, -0.15454959869384766, -0.015149116516113281, -0.0039136409759521484, -0.018337249755859375, -0.003509521484375, -0.00665283203125, -8.0108642578125e-05, -0.0010867118835449219, -0.00036978721618652344, -0.005298614501953125, -0.0037689208984375, -0.0018310546875, -0.00019073486328125, -0.0008096694946289062, -0.00022268295288085938, -0.6054153442382812, -0.01788330078125, -0.00341796875, -0.3860177993774414, -0.03130388259887695, -0.01518869400024414, -5.340320587158203, -0.008453369140625, 0.0, -0.15851306915283203, -0.034451961517333984, -0.10912013053894043, -0.0046024322509765625, -0.00946044921875, -0.00732421875, -0.000232696533203125, -0.0016012191772460938, -0.0005481243133544922, -0.007434844970703125, -0.01019287109375, -0.01806640625, -0.007306098937988281, -0.0036191940307617188, -0.0011703968048095703, -0.030427932739257812, -0.007415771484375, -0.00933837890625, -0.0003299713134765625, -0.0010275840759277344, -0.0005006790161132812], "max": [0.026210784912109375, 6.810089111328125, 8.3076171875, 0.0014057159423828125, 0.007965564727783203, 0.0004527568817138672, 3.8907737731933594, 3.448394775390625, 9.3118896484375, 0.0006923675537109375, 0.01272439956665039, 0.0677032470703125, 5.170879364013672, 5.869903564453125, 10.14306640625, 0.0015897750854492188, 0.0035810470581054688, 0.09342408180236816, 0.00756072998046875, 0.0098876953125, 0.00177001953125, 0.0009918212890625, 5.14984130859375e-05, 0.0, 0.005126953125, 0.0055084228515625, 0.00506591796875, 0.0008525848388671875, 8.96453857421875e-05, 5.054473876953125e-05, 11.001029968261719, 19.75042724609375, 14.18792724609375, 0.006335258483886719, 0.06821393966674805, 0.21972036361694336, 0.17786788940429688, 9.70355224609375, 8.410400390625, 0.001251220703125, 0.007795810699462891, 0.01077580451965332, 0.06041145324707031, 0.0137786865234375, 0.031707763671875, 0.0015468597412109375, 0.0004520416259765625, 8.58306884765625e-05, 1.015106201171875, 0.347686767578125, 0.21636962890625, 0.0012836456298828125, 0.0007138252258300781, 0.013184309005737305, 0.012479782104492188, 0.00323486328125, 0.0076904296875, 0.001018524169921875, 0.00029754638671875, 0.00011706352233886719], "mean": [-4.154555320739746, 2.711909532546997, 3.4818499088287354, -0.06370134651660919, 0.003428803291171789, -0.08949807286262512, 0.6668330430984497, 0.9280115365982056, 2.491183280944824, -0.02915857546031475, 0.004147450905293226, 0.008416552096605301, 0.12568223476409912, 0.16807880997657776, 0.22204095125198364, -0.002555094426497817, -0.0009895652765408158, 0.0014336409512907267, -0.0024413273204118013, 0.0014494421193376184, -0.00234052212908864, 0.0003048856742680073, -0.0001824538194341585, -0.00011478432134026662, 0.0007274273666553199, 0.0005017189541831613, 0.00144965632352978, 0.00016686027811374515, -0.00016085033712442964, -5.937385139986873e-05, 1.4005095958709717, 2.914700746536255, 2.9378602504730225, -0.06868709623813629, -0.0007377308793365955, 0.026735778898000717, -1.0742924213409424, 1.5245585441589355, 1.9893205165863037, -0.03998507186770439, -0.0028957596514374018, -0.021071719005703926, 0.022763477638363838, -0.002182625699788332, -0.0011802114313468337, 0.0008102653664536774, -0.0006873228121548891, -0.000338046025717631, 0.009544902481138706, 0.0009816448437049985, -0.0003070325474254787, 0.00047035113675519824, -0.0007001840276643634, -0.00045200460590422153, -0.0011982255382463336, -0.00034676253562793136, -0.0009977486915886402, 0.00026642996817827225, -0.00017189532809425145, -9.854359086602926e-05], "std": [2.12978196144104, 1.4567102193832397, 1.8376201391220093, 0.035242959856987, 0.0030247496906667948, 0.044874951243400574, 0.49385207891464233, 0.4969085454940796, 1.3474458456039429, 0.016627943143248558, 0.002953464398160577, 0.008270586840808392, 0.5555151700973511, 0.6572840809822083, 1.105908989906311, 0.01643414795398712, 0.0015536171849817038, 0.00968097522854805, 0.003731104312464595, 0.0017388334963470697, 0.0013159755617380142, 0.00014183179882820696, 0.00012246996629983187, 5.323858931660652e-05, 0.0012630996061488986, 0.0012819240801036358, 0.001075221225619316, 0.00013168792065698653, 0.00013148946163710207, 4.521672963164747e-05, 2.3424978256225586, 4.481314182281494, 4.010114669799805, 0.0966854989528656, 0.011747214011847973, 0.045662038028240204, 1.5789802074432373, 2.1186320781707764, 2.622004985809326, 0.05398250371217728, 0.005770014598965645, 0.032186109572649, 0.009729606099426746, 0.0015594520373269916, 0.0020431585144251585, 0.0002876801008824259, 0.00020902113465126604, 7.728851051069796e-05, 0.043427594006061554, 0.014682822860777378, 0.008664228022098541, 0.0004005827649962157, 0.00032375328009948134, 0.0005224392516538501, 0.00583522068336606, 0.0014266790822148323, 0.0022777484264224768, 0.00022005292703397572, 0.00022836601419840008, 8.391428855247796e-05], "count": [1282]}, "timestamp": {"min": [0.0], "max": [42.7], "mean": [21.349999999999998], "std": [12.336046998757567], "count": [1282]}, "frame_index": {"min": [0], "max": [1281], "mean": [640.5], "std": [370.081409962727], "count": [1282]}, "episode_index": {"min": [32], "max": [32], "mean": [32.0], "std": [0.0], "count": [1282]}, "index": {"min": [48976], "max": [50257], "mean": [49616.5], "std": [370.081409962727], "count": [1282]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1282]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3439891040325165]], [[0.343207448720932]], [[0.34303876757621765]]], "std": [[[0.21864254772663116]], [[0.21858790516853333]], [[0.21850371360778809]]], "count": [1282]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3046671152114868]], [[0.3068769872188568]], [[0.305711030960083]]], "std": [[[0.17181798815727234]], [[0.1741468459367752]], [[0.17360378801822662]]], "count": [1282]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30932706594467163]], [[0.30835381150245667]], [[0.30750659108161926]]], "std": [[[0.17423495650291443]], [[0.17486721277236938]], [[0.17418642342090607]]], "count": [1282]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3424191176891327]], [[0.34164202213287354]], [[0.34164488315582275]]], "std": [[[0.21929603815078735]], [[0.21926604211330414]], [[0.21927224099636078]]], "count": [1282]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.772549033164978]], [[0.772549033164978]], [[0.772549033164978]]], "mean": [[[0.0061338795349001884]], [[0.0061338795349001884]], [[0.0061338795349001884]]], "std": [[[0.05248286575078964]], [[0.05248286575078964]], [[0.05248286575078964]]], "count": [1282]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.95686274766922]], [[0.95686274766922]], [[0.95686274766922]]], "mean": [[[0.47351351380348206]], [[0.47351351380348206]], [[0.47351351380348206]]], "std": [[[0.15202580392360687]], [[0.15202580392360687]], [[0.15202580392360687]]], "count": [1282]}}}
+{"episode_index": 33, "stats": {"observation.state": {"min": [0.8369557857513428, -0.8824247717857361, 2.396844820395927e-07, 1.0270143747329712, -0.8046069741249084, -0.7699993848800659, 0.4205801486968994, 0.007657452952116728, -0.21063360571861267, -0.15331882238388062, -0.3165934383869171, 0.002598236780613661, 0.003219994017854333, -0.0001677949767326936, 0.003436423372477293, 0.0008420600206591189, 0.0038322980981320143, -0.0006100965547375381, 0.0035052085295319557, 0.0008673351258039474, 0.003313949331641197, 4.366603752714582e-05, 0.003053495427593589, 0.0008691088296473026, 0.005486606154590845, 0.003228089539334178, 0.00010646637383615598, 0.006493109744042158, 0.0008447205764241517, 0.3280184864997864, -1.0803879499435425, 0.000407823157729581, 1.1500641107559204, -1.7938449382781982, -0.7695612907409668, -0.3677241802215576, 0.008098124526441097, -0.320217490196228, -0.16721707582473755, -0.3038647770881653, 0.006901920773088932, 0.0039029489271342754, 9.6899013442453e-05, 0.0034828712232410908, 0.0013041066704317927, 0.004538803361356258, -0.0003012461238540709, 0.0033885573502629995, 0.0024179851170629263, 0.004175247624516487, -0.00013614940689876676, 0.003711564000695944, 0.002149714156985283, 0.0103053143247962, 0.004841765854507685, -3.5570661566453055e-05, 0.0032828976400196552, 0.0008677785517647862, 0.5624915957450867, -1.1069588661193848, 0.5065971612930298, -0.016682041808962822, -0.05944175645709038, -0.06615292280912399, -0.8500171303749084], "max": [1.051160454750061, -0.5269634127616882, 0.39060378074645996, 1.6468415260314941, 4.793689640791854e-07, -0.34902963042259216, 0.5825543999671936, 1.2327287197113037, -4.42660711996723e-05, 0.5353196859359741, -0.002452779794111848, 0.9256275296211243, 1.2021952867507935, 0.2535665035247803, 0.2285849153995514, 0.09125687927007675, 1.3209930658340454, 0.2488361895084381, 0.017320040613412857, 0.08268019556999207, 1.198390007019043, 0.18090231716632843, 0.08523904532194138, 0.32300785183906555, 0.06206629425287247, 0.8002296090126038, 0.23230788111686707, 0.14210206270217896, 0.12603630125522614, 1.117451548576355, -0.37285494804382324, 0.8778829574584961, 1.874686598777771, -0.0006593720172531903, 0.0887446254491806, 0.5194503664970398, 1.3211324214935303, -4.2640178435249254e-05, 0.5614087581634521, 0.31326979398727417, 0.6113341450691223, 1.46695077419281, 0.1438782513141632, 0.10806792974472046, 0.48774033784866333, 1.4667500257492065, 0.2214704155921936, 1.6533501148223877, 1.2340108156204224, 1.4670257568359375, 0.24504360556602478, 1.6536915302276611, 0.9476763010025024, 0.14902354776859283, 1.4672266244888306, 0.19843046367168427, 1.6534476280212402, 1.3081134557724, 0.5632585883140564, -1.106479525566101, 0.5441796779632568, 9.58738019107841e-05, 0.0, 0.08714928478002548, -0.5998823642730713], "mean": [0.963089644908905, -0.6062924861907959, 0.18074777722358704, 1.2198911905288696, -0.6727103590965271, -0.4606797397136688, 0.5480177998542786, 1.1927727460861206, -0.16082924604415894, 0.4270278215408325, -0.30663853883743286, 0.7851930856704712, 1.1457674503326416, 0.21369625627994537, 0.16642656922340393, 0.08428587019443512, 1.241262435913086, 0.19743968546390533, 0.003888703417032957, 0.07169321179389954, 1.1318503618240356, 0.1082306057214737, 0.004106855485588312, 0.3033737242221832, 0.05983325093984604, 0.7432807683944702, 0.1397971361875534, 0.12374859303236008, 0.10818292945623398, 0.8875271081924438, -0.7158351540565491, 0.41407740116119385, 1.4449611902236938, -1.2191390991210938, -0.2063847780227661, -0.11839596927165985, 1.2402713298797607, -0.24320298433303833, 0.2751273512840271, -0.1283000260591507, 0.5654430389404297, 1.2228305339813232, 0.07498810440301895, 0.09752269089221954, 0.42494237422943115, 1.408336877822876, 0.16408850252628326, 1.3784291744232178, 1.0832263231277466, 1.3626189231872559, 0.15056563913822174, 1.4251477718353271, 0.8453460335731506, 0.1131998598575592, 1.4151567220687866, 0.1223401203751564, 1.3932474851608276, 1.1048659086227417, 0.5626838207244873, -1.1067756414413452, 0.5139344334602356, -0.011006686836481094, -0.04412587359547615, 0.0292202178388834, -0.7360163331031799], "std": [0.03798294812440872, 0.08957422524690628, 0.04462919384241104, 0.14142821729183197, 0.1839558482170105, 0.04987908899784088, 0.03341284394264221, 0.16478900611400604, 0.02355424501001835, 0.17667295038700104, 0.04177244380116463, 0.11137649416923523, 0.1716422289609909, 0.03734603151679039, 0.061006784439086914, 0.012088804505765438, 0.21270449459552765, 0.029949482530355453, 0.0016857563750818372, 0.02554180845618248, 0.18737493455410004, 0.020183810964226723, 0.0062767392955720425, 0.05810633301734924, 0.008567659184336662, 0.1117217168211937, 0.025019364431500435, 0.037049226462841034, 0.03325560316443443, 0.20527580380439758, 0.17170444130897522, 0.1882343739271164, 0.18167686462402344, 0.3918387293815613, 0.18084336817264557, 0.15832756459712982, 0.17031095921993256, 0.06014789268374443, 0.20495955646038055, 0.14043809473514557, 0.08107223361730576, 0.2333144098520279, 0.029535602778196335, 0.014526034705340862, 0.06880922615528107, 0.19182194769382477, 0.025382021442055702, 0.559175431728363, 0.24060489237308502, 0.2562226951122284, 0.02899663895368576, 0.5382950901985168, 0.15968118607997894, 0.028631018474698067, 0.17656438052654266, 0.0329318605363369, 0.5777011513710022, 0.4551122486591339, 5.764157685916871e-05, 3.749904135474935e-05, 0.004789489787071943, 0.004133595619350672, 0.008117662742733955, 0.042697008699178696, 0.07249873131513596], "count": [1336]}, "observation.state.joint_torque": {"min": [-38.80649948120117, -9.04800033569336, -19.516000747680664, -11.388999938964844, -0.5663999915122986, -1.5743999481201172, 1.051200032234192, -1.0200955867767334, -0.8647251725196838, -0.9531428813934326, -0.8437862396240234, -0.3901601731777191, -0.41544800996780396, -0.7167198061943054, -0.22247432172298431, -0.046377696096897125, -0.5804758667945862, -0.3434882164001465, -0.04316665604710579, -0.020691584795713425, -0.5209890604019165, -0.6495572924613953, -0.13116022944450378, -0.026399608701467514, -0.07168757915496826, -0.46534016728401184, -0.3502044379711151, -0.09961536526679993, -0.02497260272502899, 13.369500160217285, -22.743000030517578, 1.565999984741211, -19.048999786376953, -2.091200113296509, -2.207200050354004, -3.063999891281128, -1.3308361768722534, -1.036651372909546, -1.9808471202850342, -0.7766809463500977, -0.32208967208862305, -0.7013683319091797, -1.1849383115768433, -0.11123716086149216, -0.02497260272502899, -0.3617180287837982, -0.33965033292770386, -0.1494230479001999, -0.022118592634797096, -0.6735438704490662, -0.5056376457214355, -0.10127562284469604, -0.02425910159945488, -0.07300698012113571, -0.5977462530136108, -0.9901670813560486, -0.16602559387683868, -0.04281017929315567, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-18.56999969482422, 25.651500701904297, -6.986999988555908, 6.839000225067139, 1.9464000463485718, 1.9759999513626099, 4.246399879455566, 0.9997191429138184, 1.0200955867767334, 1.357016921043396, 0.9121341705322266, 0.23409610986709595, 1.1436814069747925, 0.8280176520347595, 0.5595062971115112, 0.12058199942111969, 0.5113943815231323, 0.6524356603622437, 0.05644870921969414, 0.032821137458086014, 0.5689622759819031, 0.15255481004714966, 0.06641025096178055, 0.02354559674859047, 0.07344678789377213, 0.3789883852005005, 0.24658231437206268, 0.10127562284469604, 0.021405089646577835, 50.20199966430664, 22.115999221801758, 27.650999069213867, 3.1600000858306885, 0.219200000166893, 3.1552000045776367, 0.8695999979972839, 2.291076183319092, 3.843506097793579, 1.5359642505645752, 1.2712714672088623, 0.5179998874664307, 2.1405646800994873, 0.7579767107963562, 1.0559228658676147, 0.21405088901519775, 0.49412408471107483, 0.4567049741744995, 0.13116022944450378, 0.02925362065434456, 0.5891110301017761, 1.0611674785614014, 0.1145576685667038, 0.032821137458086014, 0.49169760942459106, 0.5037187337875366, 0.44135352969169617, 0.2473781555891037, 0.04281017929315567, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-30.13890266418457, 1.9979742765426636, -14.261575698852539, -5.751430988311768, 0.06779645383358002, 0.7533970475196838, 1.8228973150253296, -0.0700058713555336, 0.0674150362610817, 0.26886823773384094, 0.09389465302228928, 0.03230792284011841, 0.29669851064682007, 0.09925282746553421, 0.19615894556045532, 0.05837478116154671, 0.02932894229888916, 0.08071789145469666, -0.0005269070388749242, 0.003942426294088364, 0.01280051190406084, -0.06835643202066422, -0.0006138964090496302, 0.00016876281006261706, -0.000357173994416371, 0.0099263871088624, 0.006780883297324181, -0.0009494273690506816, 0.00037651273305527866, 27.415576934814453, 4.129651069641113, 14.246733665466309, -6.909902095794678, -0.5593816041946411, 1.2005562782287598, -1.1314709186553955, 0.04674295336008072, 0.4631633162498474, 0.09978455305099487, 0.0655788779258728, 0.03902218118309975, 0.3713759481906891, -0.07332426309585571, 0.16090057790279388, 0.039103761315345764, 0.011117836460471153, -0.003959239460527897, 0.0008413165342062712, 0.0007423422648571432, -0.0037660591769963503, 0.10066339373588562, 0.0019050693372264504, 1.976295061467681e-05, 0.14680108428001404, -0.006001672241836786, -0.11790991574525833, 0.0021722535602748394, 0.00036049113259650767, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.1725411415100098, 1.9612702131271362, 1.0308408737182617, 1.149387001991272, 0.3328249752521515, 0.4035665690898895, 0.37786710262298584, 0.21965469419956207, 0.19661147892475128, 0.36985716223716736, 0.23424606025218964, 0.054229408502578735, 0.2400761842727661, 0.1819719821214676, 0.14178472757339478, 0.033672820776700974, 0.1354917287826538, 0.12831564247608185, 0.005845262203365564, 0.007766911294311285, 0.12085255235433578, 0.12564560770988464, 0.006570291239768267, 0.005406041629612446, 0.007039333693683147, 0.07420719414949417, 0.053483299911022186, 0.017594637349247932, 0.0072456891648471355, 4.507301330566406, 3.3186118602752686, 1.8656346797943115, 2.344695806503296, 0.318333238363266, 0.6578804850578308, 0.6952570676803589, 0.416670560836792, 0.7625288963317871, 0.33574843406677246, 0.3028634786605835, 0.08280105143785477, 0.6093980073928833, 0.2995380759239197, 0.282932311296463, 0.06286115199327469, 0.06225721910595894, 0.06570514291524887, 0.020132003352046013, 0.005599646829068661, 0.14052549004554749, 0.2100462168455124, 0.01271608006209135, 0.007759369444102049, 0.13048575818538666, 0.09578268975019455, 0.2020643800497055, 0.019597282633185387, 0.004558245651423931, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1336]}, "observation.state.tcp": {"min": [0.354271799325943, 0.12907832860946655, 1.0340195894241333, -1.2088570594787598, 1.0439605712890625, -1.6324288845062256, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2555462419986725, -0.32236939668655396, 0.9882376790046692, -0.27846816182136536, 1.0599265098571777, 0.17080534994602203, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4629773199558258, 0.2386510968208313, 1.157004714012146, -0.29120421409606934, 1.383278250694275, -1.2241650819778442, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4409301280975342, -0.0998527854681015, 1.2482030391693115, 1.208561897277832, 2.109502077102661, 1.5156234502792358, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4104483723640442, 0.15409940481185913, 1.0665500164031982, -0.4852064251899719, 1.245284080505371, -1.3872662782669067, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3748033344745636, -0.21576537191867828, 1.108636736869812, 0.37060657143592834, 1.6058109998703003, 0.8381307721138, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.02090812474489212, 0.023041466251015663, 0.01995067484676838, 0.22047840058803558, 0.046646151691675186, 0.06998315453529358, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05488864704966545, 0.06154777482151985, 0.07288996130228043, 0.4027862846851349, 0.26640769839286804, 0.38296401500701904, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1336]}, "action": {"min": [0.8363391160964966, -0.8828290104866028, 5.612523091258481e-05, 1.02521812915802, -0.8045852184295654, -0.7699202299118042, 0.420600950717926, 0.0, -0.2067890763282776, -0.15704986453056335, -0.3490658402442932, 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, 0.32575538754463196, -1.0807443857192993, 0.0005432566977106035, 1.1499567031860352, -1.7938262224197388, -0.7693653702735901, -0.36770081520080566, 0.0, -0.3490658402442932, -0.16822229325771332, -0.30774420499801636, 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, 0.5626833438873291, -1.1069231033325195, 0.5055976510047913, -0.01735004596412182, -0.060921065509319305, -0.06669991463422775, -0.8501191735267639], "max": [1.0511764287948608, -0.5267914533615112, 0.39078277349472046, 1.6468398571014404, -4.1831670387182385e-05, -0.3489246070384979, 0.5830749869346619, 1.2398399114608765, 0.0, 0.5436342358589172, 0.0, 0.9291132092475891, 1.2071866989135742, 0.2535971999168396, 0.23499317467212677, 0.09111843258142471, 1.3221369981765747, 0.25072091817855835, 0.022217663004994392, 0.08595087379217148, 1.2017401456832886, 0.17900699377059937, 0.09129678457975388, 0.3273516595363617, 0.08066818863153458, 0.8066818118095398, 0.23250454664230347, 0.15113547444343567, 0.12988972663879395, 1.1174261569976807, -0.37282055616378784, 0.8780831694602966, 1.8750325441360474, -0.0009070637752301991, 0.08889938145875931, 0.5192375183105469, 1.329482078552246, 0.0, 0.5678008794784546, 0.3490658402442932, 0.6207828521728516, 1.5506069660186768, 0.1469852328300476, 0.11387012898921967, 0.4903370141983032, 1.5707963705062866, 0.22234195470809937, 1.7453292608261108, 1.2357654571533203, 1.5707963705062866, 0.24698156118392944, 1.7453292608261108, 0.951308012008667, 0.15774115920066833, 1.5707963705062866, 0.20431798696517944, 1.7453292608261108, 1.3962633609771729, 0.562874436378479, -1.1066720485687256, 0.5442397594451904, 3.07562889895532e-19, 1.8675285900826566e-05, 0.0875747874379158, -0.6000000238418579], "mean": [0.9631785154342651, -0.6064894199371338, 0.18074755370616913, 1.2200230360031128, -0.6725895404815674, -0.4606706500053406, 0.5480961799621582, 1.188949465751648, -0.1613992601633072, 0.4324445128440857, -0.34057313203811646, 0.7896010279655457, 1.1535106897354126, 0.21436557173728943, 0.17032699286937714, 0.08678384125232697, 1.2445696592330933, 0.2013687938451767, 0.0003685177653096616, 0.07338293641805649, 1.1353178024291992, 0.10822553187608719, 0.0011275078868493438, 0.3063088357448578, 0.07486684620380402, 0.7486686706542969, 0.1422351896762848, 0.12901480495929718, 0.11058597266674042, 0.8873372077941895, -0.7164549231529236, 0.4140383005142212, 1.4451851844787598, -1.217763066291809, -0.2066478133201599, -0.11840556561946869, 1.2432111501693726, -0.2442837953567505, 0.27598297595977783, -0.1275334507226944, 0.5683491230010986, 1.2324048280715942, 0.07470408827066422, 0.10042859613895416, 0.42872652411460876, 1.4981353282928467, 0.1647593379020691, 1.4472397565841675, 1.0853105783462524, 1.4433035850524902, 0.15004420280456543, 1.501843810081482, 0.8477046489715576, 0.12981437146663666, 1.5062607526779175, 0.12235011905431747, 1.462165117263794, 1.1778414249420166, 0.5626839399337769, -1.1067795753479004, 0.5139949321746826, -0.0110506322234869, -0.04415896162390709, 0.029214579612016678, -0.7360116839408875], "std": [0.03809303045272827, 0.08987903594970703, 0.04471271112561226, 0.1417911946773529, 0.18431419134140015, 0.05005677044391632, 0.03325918689370155, 0.1782366782426834, 0.026385145261883736, 0.1799040585756302, 0.05254162847995758, 0.12702234089374542, 0.18520811200141907, 0.03907181695103645, 0.06385031342506409, 0.013450772501528263, 0.22076857089996338, 0.033373747020959854, 0.0025597242638468742, 0.02663232944905758, 0.19652573764324188, 0.021701617166399956, 0.007272856775671244, 0.06106393784284592, 0.012082185596227646, 0.12082187086343765, 0.027432870119810104, 0.03918059915304184, 0.03358208388090134, 0.20671512186527252, 0.17228952050209045, 0.1884957104921341, 0.1818152219057083, 0.3919781744480133, 0.1809002161026001, 0.15838274359703064, 0.18577133119106293, 0.06929916888475418, 0.20546580851078033, 0.14714038372039795, 0.09045985341072083, 0.24799500405788422, 0.029489664360880852, 0.01633293554186821, 0.07542064040899277, 0.23189762234687805, 0.028180938214063644, 0.591858446598053, 0.2463742047548294, 0.2941833734512329, 0.03184362128376961, 0.5746070146560669, 0.1645340621471405, 0.03307929262518883, 0.2200876921415329, 0.03472907841205597, 0.6078625917434692, 0.4865995943546295, 1.0869076504604891e-05, 2.3578140826430172e-05, 0.004998131655156612, 0.004167412407696247, 0.008348776958882809, 0.042807381600141525, 0.07271327078342438], "count": [1336]}, "observation.state.tcp_pose": {"min": [0.354271799325943, 0.12907832860946655, 1.0340195894241333, -1.2088570594787598, 1.0439605712890625, -1.6324288845062256, 0.2555462419986725, -0.32236939668655396, 0.9882376790046692, -0.27846816182136536, 1.0599265098571777, 0.17080534994602203], "max": [0.4629773199558258, 0.2386510968208313, 1.157004714012146, -0.29120421409606934, 1.383278250694275, -1.2241650819778442, 0.4409301280975342, -0.0998527854681015, 1.2482030391693115, 1.208561897277832, 2.109502077102661, 1.5156234502792358], "mean": [0.4104483723640442, 0.15409940481185913, 1.0665500164031982, -0.4852064251899719, 1.245284080505371, -1.3872662782669067, 0.3748033344745636, -0.21576537191867828, 1.108636736869812, 0.37060657143592834, 1.6058109998703003, 0.8381307721138], "std": [0.02090812474489212, 0.023041466251015663, 0.01995067484676838, 0.22047840058803558, 0.046646151691675186, 0.06998315453529358, 0.05488864704966545, 0.06154777482151985, 0.07288996130228043, 0.4027862846851349, 0.26640769839286804, 0.38296401500701904], "count": [1336]}, "action.tcp_pose": {"min": [0.35443180799484253, 0.12915605306625366, 1.0341585874557495, -1.2088543176651, 1.0348381996154785, -1.6336705684661865, 0.2576711177825928, -0.3260938823223114, 0.9883127808570862, -0.27834540605545044, 1.0601106882095337, 0.17081962525844574], "max": [0.46350035071372986, 0.24270707368850708, 1.1584118604660034, -0.2911515533924103, 1.3832775354385376, -1.228954792022705, 0.44656097888946533, -0.09994038939476013, 1.2485657930374146, 1.2084892988204956, 2.1095266342163086, 1.5207773447036743], "mean": [0.4104534387588501, 0.15415972471237183, 1.0665768384933472, -0.4852357506752014, 1.2451504468917847, -1.387311339378357, 0.37467071413993835, -0.2160084843635559, 1.1086034774780273, 0.37189748883247375, 1.6060996055603027, 0.8382018208503723], "std": [0.02096037194132805, 0.0233259666711092, 0.02008308656513691, 0.22074058651924133, 0.04705459251999855, 0.0700496956706047, 0.055124521255493164, 0.06195852905511856, 0.07302360981702805, 0.40315279364585876, 0.2660128176212311, 0.38329043984413147], "count": [1336]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.372754491017965], "std": [6.805926456240127], "count": [1336]}, "observation.tactile": {"min": [-8.288902282714844, -0.00653076171875, -0.000244140625, -0.21282672882080078, -0.01866912841796875, -0.17299962043762207, -0.6141586303710938, -0.002288818359375, -0.00341796875, -0.2056283950805664, -0.011969566345214844, -0.012269020080566406, -0.025613784790039062, -0.024810791015625, -0.001220703125, -0.1910409927368164, -0.013545036315917969, -0.0006234645843505859, -0.033290863037109375, -0.010650634765625, -0.000244140625, -0.0002956390380859375, -0.0006670951843261719, -0.0005357265472412109, -0.00171661376953125, -0.0048675537109375, -0.00311279296875, -0.0001926422119140625, -0.00116729736328125, -0.00026226043701171875, -0.04245758056640625, -0.026336669921875, -0.00140380859375, -0.31229686737060547, -0.02874135971069336, -0.0038657188415527344, -5.688621520996094, -0.008758544921875, -0.006103515625, -0.20208454132080078, -0.023849964141845703, -0.10439229011535645, -0.024524688720703125, -0.007415771484375, -0.00494384765625, -0.0004558563232421875, -0.001338958740234375, -0.0005407333374023438, -0.0196533203125, -0.0098876953125, -0.01397705078125, -0.008013725280761719, -0.0010309219360351562, -0.000476837158203125, -0.019954681396484375, -0.002593994140625, -0.008544921875, -0.00019073486328125, -0.0011954307556152344, -0.0004901885986328125], "max": [1.0841445922851562, 7.489959716796875, 8.67535400390625, 0.000885009765625, 0.003330230712890625, 0.02582240104675293, 5.630958557128906, 4.9193115234375, 15.359130859375, 0.0022420883178710938, 0.014039039611816406, 0.0929708480834961, 5.721548080444336, 7.323150634765625, 12.57318115234375, 0.0022916793823242188, 0.0030145645141601562, 0.1021578311920166, 0.013095855712890625, 0.0035400390625, 0.0093994140625, 0.000446319580078125, 0.00012636184692382812, 0.0, 0.018421173095703125, 0.008087158203125, 0.00555419921875, 0.00133514404296875, 0.00010776519775390625, 6.67572021484375e-06, 7.860404968261719, 19.969207763671875, 14.2037353515625, 0.0021181106567382812, 0.04413461685180664, 0.14807748794555664, 1.1287612915039062, 9.297454833984375, 9.2227783203125, 0.0017719268798828125, 0.012496471405029297, 0.024788618087768555, 0.022930145263671875, 0.0142974853515625, 0.0394287109375, 0.0010967254638671875, 0.000690460205078125, 0.0, 0.1097869873046875, 0.077392578125, 0.32562255859375, 0.001132965087890625, 0.0038890838623046875, 0.0023660659790039062, 0.010730743408203125, 0.008819580078125, 0.0054931640625, 0.001293182373046875, 0.00010061264038085938, 4.4345855712890625e-05], "mean": [-4.382198810577393, 4.632965564727783, 3.954983949661255, -0.08792457729578018, -0.008498924784362316, -0.09098783880472183, 1.5191621780395508, 1.6564950942993164, 6.500974178314209, -0.0902637243270874, 0.002173059154301882, 0.024849729612469673, 0.4505399465560913, 0.7815008759498596, 0.8725252151489258, -0.011846954934298992, -0.001157880760729313, 0.005491108167916536, -0.0039613391272723675, -0.002703409641981125, 0.004287994001060724, 1.9329036149429157e-05, -0.00011403189273551106, -0.00023914498160593212, 0.0006931727402843535, -0.0005231046234257519, 0.0013435500441119075, 0.00014473292685579509, -0.00011250108946114779, -8.150203211698681e-05, 1.7845778465270996, 3.0662271976470947, 2.912137031555176, -0.06629597395658493, -0.0008739268523640931, 0.033210594207048416, -0.705420196056366, 1.2067408561706543, 1.889693260192871, -0.03805286064743996, -0.0030466760508716106, -0.013176207430660725, 0.003452917793765664, -0.000739548762794584, 9.251212031813338e-05, 0.00030607590451836586, -0.0003804730367846787, -0.0002757686597760767, 0.008279315195977688, 0.0006794501096010208, -0.0030767247080802917, 0.00037654073094017804, -0.0004291381046641618, -0.0001954471954377368, 0.0009983242489397526, 0.001762412954121828, -0.0001621817355044186, 0.0005404235562309623, -0.00047245496534742415, -0.00017343595391139388], "std": [2.0849342346191406, 2.221503973007202, 1.9390250444412231, 0.04382722079753876, 0.005167764611542225, 0.043253663927316666, 0.8798320889472961, 0.8465134501457214, 3.245131254196167, 0.043910086154937744, 0.0029117180965840816, 0.015121581964194775, 0.6859033703804016, 0.8822802305221558, 1.4001268148422241, 0.02174224518239498, 0.001974568236619234, 0.012172120623290539, 0.004622315056622028, 0.0018990908283740282, 0.0016469538677483797, 0.00011979320697719231, 8.196996350307018e-05, 6.267034041229635e-05, 0.0014787893742322922, 0.001279441057704389, 0.0011245737550780177, 0.00012788723688572645, 0.00011834429460577667, 4.053830343764275e-05, 2.2830257415771484, 4.775454521179199, 4.192838668823242, 0.09521902352571487, 0.00702323392033577, 0.04234040901064873, 1.3882790803909302, 1.7752025127410889, 2.6368908882141113, 0.056271031498909, 0.003980726469308138, 0.026539403945207596, 0.007944770157337189, 0.0017899293452501297, 0.002020396525040269, 0.00030809149029664695, 0.0003108204691670835, 9.995074651669711e-05, 0.007270039990544319, 0.0037565850652754307, 0.01226495485752821, 0.00035932986065745354, 0.000306323025142774, 0.0001705655304249376, 0.004681512247771025, 0.001086729229427874, 0.0020930422469973564, 0.0002749849809333682, 0.00024942070012912154, 9.454425162402913e-05], "count": [1336]}, "timestamp": {"min": [0.0], "max": [44.5], "mean": [22.25], "std": [12.855662392718454], "count": [1336]}, "frame_index": {"min": [0], "max": [1335], "mean": [667.5], "std": [385.6698717815536], "count": [1336]}, "episode_index": {"min": [33], "max": [33], "mean": [33.0], "std": [0.0], "count": [1336]}, "index": {"min": [50258], "max": [51593], "mean": [50925.5], "std": [385.6698717815536], "count": [1336]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1336]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3466317653656006]], [[0.34585124254226685]], [[0.3457256257534027]]], "std": [[[0.22165919840335846]], [[0.22157561779022217]], [[0.2215249389410019]]], "count": [1336]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3048732280731201]], [[0.3063008785247803]], [[0.3043775260448456]]], "std": [[[0.1711384356021881]], [[0.1731889545917511]], [[0.17262518405914307]]], "count": [1336]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3095411956310272]], [[0.3088901937007904]], [[0.30727681517601013]]], "std": [[[0.17400266230106354]], [[0.17501471936702728]], [[0.1736600697040558]]], "count": [1336]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34590572118759155]], [[0.345133513212204]], [[0.3451675474643707]]], "std": [[[0.22312232851982117]], [[0.22306832671165466]], [[0.22310876846313477]]], "count": [1336]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7215686440467834]], [[0.7215686440467834]], [[0.7215686440467834]]], "mean": [[[0.008782485499978065]], [[0.008782485499978065]], [[0.008782485499978065]]], "std": [[[0.06347961723804474]], [[0.06347961723804474]], [[0.06347961723804474]]], "count": [1336]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.95686274766922]], [[0.95686274766922]], [[0.95686274766922]]], "mean": [[[0.4733961224555969]], [[0.4733961224555969]], [[0.4733961224555969]]], "std": [[[0.15248620510101318]], [[0.15248620510101318]], [[0.15248620510101318]]], "count": [1336]}}}
+{"episode_index": 34, "stats": {"observation.state": {"min": [0.8470271825790405, -0.8479748368263245, 1.2703279026027303e-05, 1.0883533954620361, -0.8298065662384033, -0.7699993252754211, 0.4107612371444702, 0.007669016253203154, -0.20785079896450043, -0.12022200971841812, -0.31831949949264526, 0.002420600736513734, 0.0032450160942971706, -0.0001251102949026972, 0.003386429976671934, 0.0008433902985416353, 0.0035300711169838905, -0.00046536108129657805, 0.0036661801859736443, 0.0008841852541081607, 0.003308552550151944, 8.610531222075224e-05, 0.003134335856884718, 0.0008921668631955981, 0.006164136342704296, 0.003255810122936964, 8.757724572205916e-05, 0.006542748771607876, 0.0008686654036864638, 0.32442134618759155, -1.0913954973220825, 0.0006236590561456978, 1.129267692565918, -1.867165446281433, -0.769256591796875, -0.40601009130477905, 0.006402831990271807, -0.3200837969779968, -0.10522917658090591, -0.2862602472305298, 0.00689163850620389, 0.004473304376006126, 8.021727262530476e-05, 0.003500953782349825, 0.0012584341457113624, 0.008077705278992653, -0.0012201931094750762, 0.0033825295977294445, 0.0021173441782593727, 0.0033590872772037983, -0.0001633787469472736, 0.003526127664372325, 0.0017058479133993387, 0.010362043045461178, 0.009607975371181965, -2.6003441234934144e-05, 0.00677498709410429, 0.000837182451505214, 0.5625874400138855, -1.1069588661193848, 0.5046796798706055, -0.02406432293355465, -0.05867476388812065, -0.06548180431127548, -0.8333350419998169], "max": [1.0500236749649048, -0.5241053104400635, 0.3365478217601776, 1.6432089805603027, -8.269114914583042e-06, -0.3711021840572357, 0.5996477603912354, 1.245966911315918, -5.673256964655593e-05, 0.5684079527854919, -0.002457704395055771, 0.9499672055244446, 1.2177693843841553, 0.2553458511829376, 0.18887458741664886, 0.09117794036865234, 1.2961623668670654, 0.22770093381404877, 0.00372681044973433, 0.07338293641805649, 1.1736834049224854, 0.14261385798454285, 0.003180074505507946, 0.3229927718639374, 0.062124092131853104, 0.776925265789032, 0.2055831104516983, 0.08049853891134262, 0.06863122433423996, 1.2040207386016846, -0.4563959836959839, 0.8004864454269409, 1.9403187036514282, -0.0011102185817435384, 0.12717048823833466, 0.5190735459327698, 1.3184616565704346, 0.002370844129472971, 0.6125509738922119, 0.31329670548439026, 0.599635660648346, 1.4666459560394287, 0.15206760168075562, 0.10805338621139526, 0.49405914545059204, 1.4667433500289917, 0.1875775009393692, 1.6533653736114502, 1.2018449306488037, 1.4666322469711304, 0.22431138157844543, 1.6537100076675415, 0.9336304664611816, 0.12439589947462082, 1.466972827911377, 0.1771077811717987, 1.6534327268600464, 1.3080753087997437, 0.5631626844406128, -1.106479525566101, 0.5441796779632568, 0.0, 0.0, 0.05579855293035507, -0.5998823642730713], "mean": [0.944128692150116, -0.6066978573799133, 0.201197549700737, 1.2424020767211914, -0.6824066042900085, -0.4578258693218231, 0.542300283908844, 1.2065536975860596, -0.16632160544395447, 0.4417110085487366, -0.30768656730651855, 0.7857601046562195, 1.1719363927841187, 0.226235494017601, 0.12455982714891434, 0.08458728343248367, 1.2331018447875977, 0.19858242571353912, 0.0037016808055341244, 0.0651935487985611, 1.1189217567443848, 0.11011051386594772, 0.003155501326546073, 0.30896762013435364, 0.06025257334113121, 0.7233639359474182, 0.12470950931310654, 0.06623805314302444, 0.058240532875061035, 0.9143441915512085, -0.7170242667198181, 0.3897445499897003, 1.4452003240585327, -1.2305119037628174, -0.2193080186843872, -0.12217453867197037, 1.2399497032165527, -0.2531193792819977, 0.24408644437789917, -0.06828583031892776, 0.5579026341438293, 1.2637969255447388, 0.08243439346551895, 0.0970892608165741, 0.4209848940372467, 1.424548864364624, 0.1631212830543518, 1.233971118927002, 1.085897445678711, 1.3617527484893799, 0.15738406777381897, 1.466360330581665, 0.8483673930168152, 0.10552248358726501, 1.4259401559829712, 0.13450834155082703, 1.4051170349121094, 1.1135698556900024, 0.5628688931465149, -1.1065748929977417, 0.5119304656982422, -0.014528362080454826, -0.04606018587946892, 0.008404763415455818, -0.7325249910354614], "std": [0.03212900087237358, 0.09873495995998383, 0.04301196336746216, 0.1440490186214447, 0.20950715243816376, 0.045091450214385986, 0.036862581968307495, 0.15479223430156708, 0.022917430847883224, 0.1611810177564621, 0.03896773234009743, 0.10472892224788666, 0.16040857136249542, 0.03567755967378616, 0.045324794948101044, 0.01123595330864191, 0.19038133323192596, 0.027869969606399536, 8.445545972790569e-06, 0.0170914176851511, 0.16661609709262848, 0.017163589596748352, 7.25825111658196e-06, 0.043301772326231, 0.00744396960362792, 0.10093624889850616, 0.021760880947113037, 0.017447596415877342, 0.0164200346916914, 0.22047372162342072, 0.15245763957500458, 0.16100835800170898, 0.1955851912498474, 0.4318234920501709, 0.2063952535390854, 0.17137141525745392, 0.15827955305576324, 0.05527206510305405, 0.231730118393898, 0.19037507474422455, 0.07352245599031448, 0.21002165973186493, 0.03139664977788925, 0.013670976273715496, 0.07373064756393433, 0.16989664733409882, 0.022508906200528145, 0.5089515447616577, 0.20659874379634857, 0.2521119713783264, 0.02541942335665226, 0.4451102614402771, 0.14448212087154388, 0.023539625108242035, 0.16234029829502106, 0.027382036671042442, 0.570316731929779, 0.4491626024246216, 5.200366649660282e-05, 5.132152728037909e-05, 0.00522103114053607, 0.0052259452641010284, 0.006843171548098326, 0.03740331530570984, 0.06839649379253387], "count": [1486]}, "observation.state.joint_torque": {"min": [-42.24150085449219, -6.15749979019165, -20.215999603271484, -10.359000205993652, -0.5368000268936157, -1.2344000339508057, 0.7616000175476074, -1.074857234954834, -0.6698755025863647, -0.8127189874649048, -0.8860376477241516, -0.3918204605579376, -0.2715283930301666, -0.37994781136512756, -0.2722820043563843, -0.04709119349718094, -0.5632055401802063, -0.2811230421066284, -0.0016602561809122562, -0.020691584795713425, -0.6284490823745728, -0.7982742786407471, -0.0016602561809122562, -0.027113113552331924, -0.0888398215174675, -0.3693937361240387, -0.43175891041755676, -0.0979551151394844, -0.026399608701467514, -1.406999945640564, -16.218000411987305, -5.646999835968018, -14.258000373840332, -1.8760000467300415, -2.9031999111175537, -3.3712000846862793, -1.2034833431243896, -1.1041483879089355, -1.268786072731018, -0.6896927356719971, -0.12949997186660767, -0.6303679943084717, -1.0410187244415283, -0.1062563955783844, -0.027113113552331924, -0.7637335658073425, -0.46054282784461975, -0.13780125975608826, -0.019978083670139313, -0.5113944411277771, -0.5967867374420166, -0.09463459998369217, -0.03139413148164749, -0.06640996783971786, -0.39625874161720276, -0.7944363951683044, -0.4615511894226074, -0.07991233468055725, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-14.935500144958496, 21.18600082397461, -5.788000106811523, 4.7769999504089355, 1.8567999601364136, 1.520799994468689, 3.650399923324585, 0.7793988585472107, 1.318100929260254, 1.2849409580230713, 1.042616605758667, 0.1859486699104309, 0.9978427886962891, 0.9671399593353271, 0.7222114205360413, 0.1526896357536316, 0.5478540658950806, 0.5497729778289795, 0.0016602561809122562, 0.05565322935581207, 0.5123538970947266, 0.18325766921043396, 0.0016602561809122562, 0.02497260272502899, 0.07036817818880081, 0.3837856948375702, 0.2935960590839386, 0.07305127382278442, 0.02354559674859047, 59.733001708984375, 29.0939998626709, 33.30699920654297, 5.568999767303467, -0.03280000016093254, 3.552799940109253, 0.7504000067710876, 1.7192622423171997, 3.024627923965454, 1.524780035018921, 1.0687130689620972, 0.39514094591140747, 2.0350236892700195, 0.4806915819644928, 0.7985832095146179, 0.20691587030887604, 0.393380343914032, 0.2859203517436981, 0.22247432172298431, 0.021405089646577835, 0.4970024824142456, 0.6063814163208008, 0.08633331209421158, 0.022832093760371208, 0.4098946154117584, 0.30415016412734985, 0.3367719352245331, 0.2042115032672882, 0.03781566023826599, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.8580322265625, 1.8192094564437866, -14.23812198638916, -6.099401473999023, 0.1011800542473793, 0.7539023756980896, 1.7483214139938354, -0.04841289296746254, 0.06816379725933075, 0.3429003357887268, 0.15750040113925934, 0.010628544725477695, 0.339385449886322, 0.3219410479068756, 0.1766362190246582, 0.06904799491167068, -0.0024180333130061626, 0.0832841619849205, 4.469060513656586e-06, -0.0008455438655801117, -0.007215333171188831, -0.08412889391183853, 1.1172652421009843e-06, -0.00014740628830622882, -0.0005129040800966322, 0.004277545493096113, 0.0015412126667797565, 0.00026702627656050026, -0.0008633109391666949, 27.56302833557129, 4.042226791381836, 14.423992156982422, -6.630916595458984, -0.6095737814903259, 1.2171293497085571, -1.0714293718338013, 0.05206295847892761, 0.4120648503303528, 0.14144247770309448, 0.05212775617837906, 0.0402807742357254, 0.2958902418613434, -0.14721322059631348, 0.12800291180610657, 0.03351021185517311, 0.009801218286156654, -0.004762439988553524, 0.002759648486971855, 0.0007144645205698907, -0.02839716337621212, 0.03472991660237312, 0.0008904609130695462, -0.0003721147950273007, 0.07087338715791702, -0.002782171592116356, -0.065843366086483, 0.002361901570111513, 0.000607870111707598, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.044187068939209, 1.7857894897460938, 0.9275499582290649, 0.9630786180496216, 0.31533941626548767, 0.4297674596309662, 0.345393568277359, 0.20122087001800537, 0.21356289088726044, 0.35246631503105164, 0.2144009917974472, 0.03947959467768669, 0.23463132977485657, 0.23349769413471222, 0.15081389248371124, 0.04035266861319542, 0.1462501734495163, 0.110460564494133, 0.00012173592403996736, 0.007720469031482935, 0.13358138501644135, 0.12657740712165833, 7.458971231244504e-05, 0.005985773168504238, 0.007010096684098244, 0.0709131732583046, 0.060202471911907196, 0.015055438503623009, 0.006481804419308901, 4.6282267570495605, 2.9257209300994873, 1.8961321115493774, 2.399113178253174, 0.2607763707637787, 0.6400350332260132, 0.7143592834472656, 0.4126104712486267, 0.7512415647506714, 0.32178205251693726, 0.28442201018333435, 0.0800609365105629, 0.5146694779396057, 0.27841678261756897, 0.21323783695697784, 0.05079340562224388, 0.06258758157491684, 0.057279519736766815, 0.038325097411870956, 0.005059878341853619, 0.10971400886774063, 0.1261191964149475, 0.012157107703387737, 0.007605724036693573, 0.07680736482143402, 0.08104421943426132, 0.12468971312046051, 0.023401325568556786, 0.004994106944650412, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1486]}, "observation.state.tcp": {"min": [0.3566106855869293, 0.1262785643339157, 1.0350217819213867, -1.208825945854187, 1.0819218158721924, -1.6564464569091797, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.26656439900398254, -0.3268258273601532, 0.9992971420288086, -0.3394901752471924, 1.0499658584594727, 0.13078799843788147, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4502449929714203, 0.24533560872077942, 1.1502761840820312, -0.2857964336872101, 1.3677301406860352, -1.2288955450057983, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.44528841972351074, -0.10142260044813156, 1.252243161201477, 1.208322525024414, 2.079422950744629, 1.4833385944366455, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4054250121116638, 0.14819878339767456, 1.066117763519287, -0.493436336517334, 1.2439560890197754, -1.4120960235595703, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3757473826408386, -0.21643131971359253, 1.1162772178649902, 0.35313692688941956, 1.5774085521697998, 0.7931203246116638, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.020430613309144974, 0.023922739550471306, 0.018502475693821907, 0.22946584224700928, 0.04385356977581978, 0.07267027348279953, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05502450466156006, 0.06335246562957764, 0.07513517141342163, 0.45168375968933105, 0.26739755272865295, 0.3780973255634308, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1486]}, "action": {"min": [0.8468565940856934, -0.8480119705200195, -3.0033353089914134e-17, 1.088356852531433, -0.8298004269599915, -0.7699999809265137, 0.41077566146850586, 0.0, -0.20995289087295532, -0.12288036197423935, -0.3490658402442932, 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, 0.3244418799877167, -1.092326045036316, 0.0026615499518811703, 1.1291708946228027, -1.8675062656402588, -0.7663260698318481, -0.406052827835083, 0.0, -0.3490658402442932, -0.10897230356931686, -0.29077452421188354, 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, 0.5626834034919739, -1.1069231033325195, 0.503972589969635, -0.02440701425075531, -0.05929747596383095, -0.06611647456884384, -0.8334804177284241], "max": [1.0499999523162842, -0.5240925550460815, 0.33718371391296387, 1.6433212757110596, 3.454184022085939e-18, -0.3710832893848419, 0.5997573137283325, 1.2512489557266235, 0.0, 0.5743234753608704, 0.0, 0.9550565481185913, 1.2230217456817627, 0.25601354241371155, 0.19576677680015564, 0.09065824002027512, 1.3014538288116455, 0.22608131170272827, 0.0, 0.07635372132062912, 1.1800251007080078, 0.1432461142539978, 0.0, 0.32534798979759216, 0.07860691845417023, 0.7860691547393799, 0.20738565921783447, 0.08563446998596191, 0.07317087799310684, 1.204001545906067, -0.4563279151916504, 0.8019677996635437, 1.9404195547103882, -0.005411072168499231, 0.12717662751674652, 0.515461266040802, 1.3210453987121582, 0.0, 0.6158336400985718, 0.3490658402442932, 0.6061141490936279, 1.5707963705062866, 0.1591612696647644, 0.11198693513870239, 0.498735249042511, 1.5707963705062866, 0.18849843740463257, 1.7453292608261108, 1.204270839691162, 1.5707963705062866, 0.23106664419174194, 1.7453292608261108, 0.9357762336730957, 0.1450762152671814, 1.5707963705062866, 0.18533462285995483, 1.7453292608261108, 1.3962633609771729, 0.5629701614379883, -1.1065763235092163, 0.5442397594451904, 1.2507673965322449e-18, 7.443192008975695e-18, 0.05806921795010567, -0.6000000238418579], "mean": [0.9441748261451721, -0.6069204211235046, 0.20121058821678162, 1.2424836158752441, -0.6824391484260559, -0.4578606188297272, 0.5425068140029907, 1.200276255607605, -0.16664506494998932, 0.4476917088031769, -0.3413001596927643, 0.7886443734169006, 1.1750189065933228, 0.2295905351638794, 0.12863431870937347, 0.08703277260065079, 1.234776496887207, 0.20294232666492462, 0.0, 0.06759045273065567, 1.1198770999908447, 0.1101296916604042, 0.0, 0.30997434258461, 0.07248006761074066, 0.7248004674911499, 0.12803873419761658, 0.07034963369369507, 0.0603116899728775, 0.9151283502578735, -0.7173717617988586, 0.38970592617988586, 1.4452847242355347, -1.2295591831207275, -0.21959000825881958, -0.12205614149570465, 1.2407848834991455, -0.2572387456893921, 0.2448955625295639, -0.06462441384792328, 0.5595409274101257, 1.2766354084014893, 0.08172787725925446, 0.09928704053163528, 0.4231555759906769, 1.5140655040740967, 0.16362223029136658, 1.2397974729537964, 1.0872694253921509, 1.4382745027542114, 0.1570052057504654, 1.5419617891311646, 0.849990963935852, 0.1235189214348793, 1.515172004699707, 0.1339149922132492, 1.475268840789795, 1.1875696182250977, 0.5628666877746582, -1.1066862344741821, 0.511982262134552, -0.014574128203094006, -0.046098753809928894, 0.008420058526098728, -0.7325718998908997], "std": [0.03218528628349304, 0.09892945736646652, 0.04311798885464668, 0.14418195188045502, 0.20952235162258148, 0.04527279734611511, 0.03659529238939285, 0.17328625917434692, 0.0261334590613842, 0.16331961750984192, 0.050662457942962646, 0.12282644957304001, 0.17680169641971588, 0.03925527632236481, 0.047370944172143936, 0.012948117218911648, 0.20316067337989807, 0.03216233849525452, 0.0, 0.017954884096980095, 0.17976270616054535, 0.019293569028377533, 0.0, 0.04749637842178345, 0.01118182111531496, 0.11181817948818207, 0.02520620822906494, 0.019277649000287056, 0.016526537016034126, 0.22020107507705688, 0.1528751254081726, 0.16102765500545502, 0.19589188694953918, 0.4320322275161743, 0.20641683042049408, 0.1713940054178238, 0.1783944070339203, 0.06732440739870071, 0.23300613462924957, 0.19996806979179382, 0.08489832282066345, 0.2336193174123764, 0.03138071671128273, 0.01550000999122858, 0.08105584979057312, 0.21400971710681915, 0.02565751038491726, 0.5118086338043213, 0.21571309864521027, 0.2925529181957245, 0.028648335486650467, 0.48323994874954224, 0.15182332694530487, 0.02849450521171093, 0.21067853271961212, 0.02919120341539383, 0.6002005338668823, 0.48061949014663696, 2.5478704628767446e-05, 3.389617268112488e-05, 0.005430551245808601, 0.005265056621283293, 0.007132802624255419, 0.037466250360012054, 0.0684618279337883], "count": [1486]}, "observation.state.tcp_pose": {"min": [0.3566106855869293, 0.1262785643339157, 1.0350217819213867, -1.208825945854187, 1.0819218158721924, -1.6564464569091797, 0.26656439900398254, -0.3268258273601532, 0.9992971420288086, -0.3394901752471924, 1.0499658584594727, 0.13078799843788147], "max": [0.4502449929714203, 0.24533560872077942, 1.1502761840820312, -0.2857964336872101, 1.3677301406860352, -1.2288955450057983, 0.44528841972351074, -0.10142260044813156, 1.252243161201477, 1.208322525024414, 2.079422950744629, 1.4833385944366455], "mean": [0.4054250121116638, 0.14819878339767456, 1.066117763519287, -0.493436336517334, 1.2439560890197754, -1.4120960235595703, 0.3757473826408386, -0.21643131971359253, 1.1162772178649902, 0.35313692688941956, 1.5774085521697998, 0.7931203246116638], "std": [0.020430613309144974, 0.023922739550471306, 0.018502475693821907, 0.22946584224700928, 0.04385356977581978, 0.07267027348279953, 0.05502450466156006, 0.06335246562957764, 0.07513517141342163, 0.45168375968933105, 0.26739755272865295, 0.3780973255634308], "count": [1486]}, "action.tcp_pose": {"min": [0.35692331194877625, 0.12667959928512573, 1.0349717140197754, -1.208855390548706, 1.0760693550109863, -1.6582788228988647, 0.2665019631385803, -0.3256862163543701, 0.999221682548523, -0.3396637439727783, 1.0489277839660645, 0.13027499616146088], "max": [0.45047786831855774, 0.24704182147979736, 1.1521345376968384, -0.2858758568763733, 1.3676754236221313, -1.2289544343948364, 0.44496530294418335, -0.10149747133255005, 1.2527984380722046, 1.2057830095291138, 2.0795187950134277, 1.4933537244796753], "mean": [0.4053803086280823, 0.14829035103321075, 1.0661709308624268, -0.4931642413139343, 1.2436432838439941, -1.412070393562317, 0.3757433593273163, -0.21657471358776093, 1.1166813373565674, 0.3534325063228607, 1.5766336917877197, 0.7934194207191467], "std": [0.02043635956943035, 0.02430165931582451, 0.01860293187201023, 0.22909162938594818, 0.04446735233068466, 0.07273551821708679, 0.05506560951471329, 0.06361086666584015, 0.07534077018499374, 0.4514896869659424, 0.26741108298301697, 0.3783027231693268], "count": [1486]}, "subtask_index": {"min": [0], "max": [21], "mean": [10.152759084791386], "std": [6.776290890202066], "count": [1486]}, "observation.tactile": {"min": [-7.738197326660156, -0.0047607421875, 0.0, -0.14123058319091797, -0.016559123992919922, -0.1744544506072998, -0.353912353515625, -0.00103759765625, -0.0013427734375, -0.16370487213134766, -0.01751852035522461, -0.008031129837036133, -0.056774139404296875, -0.016265869140625, -0.0079345703125, -0.0825643539428711, -0.01646566390991211, -0.001123666763305664, -0.02812957763671875, -0.007904052734375, -0.00152587890625, -0.0005617141723632812, -0.0006508827209472656, -0.0004744529724121094, -0.001789093017578125, -0.0088043212890625, -0.001708984375, -0.00024318695068359375, -0.0011091232299804688, -0.0002777576446533203, -1.8964729309082031, -0.024749755859375, -0.001953125, -0.26421451568603516, -0.029619693756103516, -0.05000948905944824, -6.305927276611328, -0.01434326171875, 0.0, -0.1294870376586914, -0.015009403228759766, -0.12291121482849121, -0.03714752197265625, -0.0074462890625, -0.00506591796875, -0.0002613067626953125, -0.0011072158813476562, -0.0005910396575927734, -0.009134292602539062, -0.00634765625, -0.01165771484375, -0.0003299713134765625, -0.00116729736328125, -0.0006818771362304688, -0.03685760498046875, -0.004974365234375, -0.00750732421875, -0.000125885009765625, -0.0010509490966796875, -0.0004718303680419922], "max": [0.19979095458984375, 7.6851806640625, 5.620361328125, 0.000637054443359375, 0.0010685920715332031, 0.00582432746887207, 3.587738037109375, 3.0538330078125, 10.14813232421875, 0.0004730224609375, 0.01109933853149414, 0.06722521781921387, 2.864185333251953, 2.178680419921875, 4.3973388671875, 0.0021638870239257812, 0.0026879310607910156, 0.0537412166595459, 0.01334381103515625, 0.004180908203125, 0.00994873046875, 0.0003204345703125, 0.0002570152282714844, 4.291534423828125e-06, 0.01025390625, 0.0077362060546875, 0.0091552734375, 0.0011997222900390625, 0.00032806396484375, 3.8623809814453125e-05, 6.344738006591797, 13.305267333984375, 12.7274169921875, 0.006449699401855469, 0.0015454292297363281, 0.11951565742492676, 0.18809127807617188, 8.594085693359375, 6.93780517578125, 0.001506805419921875, 0.011830806732177734, 0.007799386978149414, 0.03368377685546875, 0.016510009765625, 0.038330078125, 0.0014019012451171875, 0.0008440017700195312, 4.0531158447265625e-05, 0.028911590576171875, 0.008392333984375, 0.01513671875, 0.00109100341796875, 0.0002593994140625, 7.200241088867188e-05, 0.01894378662109375, 0.015716552734375, 0.0076904296875, 0.0011768341064453125, 0.0001163482666015625, 6.890296936035156e-05], "mean": [-3.6102700233459473, 3.652855634689331, 2.5908141136169434, -0.06546850502490997, -0.005698185879737139, -0.08347950130701065, 1.4524178504943848, 1.3616836071014404, 5.029972076416016, -0.0853479728102684, 0.001790704671293497, 0.02573232538998127, 0.055075716227293015, 0.058468207716941833, 0.1225336417555809, -0.0017973898211494088, -0.0008081597043201327, 0.0012533895205706358, 0.004234337247908115, -0.0027408318128436804, 0.003976485691964626, -0.00019852470722980797, 1.3491347090166528e-05, -0.00014076154911890626, 0.003093272913247347, 0.001709713484160602, 0.0023535501677542925, 0.0006114714778959751, -0.0005263168714009225, -0.0001501517981523648, 0.8722953796386719, 2.5494399070739746, 3.0200812816619873, -0.06491938978433609, -0.004715279210358858, 0.01674557849764824, -1.2839045524597168, 1.267849326133728, 1.721847653388977, -0.031103968620300293, -0.000149611834785901, -0.025530057027935982, 0.009684562683105469, -0.0006025270558893681, 0.002083779778331518, 0.000509814010001719, -0.0004663257277570665, -0.00026210391661152244, 0.013024100102484226, 0.00029543109121732414, -0.001562475343234837, 0.0005293957656249404, -0.0005892096669413149, -0.00032079603988677263, 0.0010249766055494547, -0.0003758221282623708, 0.00036522516165859997, 0.00038980122189968824, -0.0002715545997489244, -0.00014364157686941326], "std": [1.7714366912841797, 1.7297289371490479, 1.215160846710205, 0.030811745673418045, 0.003234931966289878, 0.04093162715435028, 0.6263911128044128, 0.6147149801254272, 2.303344964981079, 0.03833437338471413, 0.0028237791266292334, 0.011303039267659187, 0.2825475037097931, 0.17412160336971283, 0.4580689072608948, 0.008805574849247932, 0.0013928785920143127, 0.005230090580880642, 0.0032853486482053995, 0.0017952886410057545, 0.0017332074930891395, 0.00011774825543398038, 8.394385076826438e-05, 4.916283432976343e-05, 0.001454089186154306, 0.001327091478742659, 0.0010735266841948032, 0.00013261121057439595, 0.00012708957365248352, 4.466253085411154e-05, 1.730800747871399, 3.7462940216064453, 3.8605189323425293, 0.08404170721769333, 0.00715691689401865, 0.032709285616874695, 1.7578980922698975, 1.7211179733276367, 2.3540420532226562, 0.04440345987677574, 0.004666237160563469, 0.03518000617623329, 0.009891337715089321, 0.0016788231441751122, 0.0020488209556788206, 0.0003150076954625547, 0.0002425780548946932, 6.663030217168853e-05, 0.005562409292906523, 0.0018946847412735224, 0.0033055460080504417, 0.0002265223884023726, 0.00022397722932510078, 9.189144475385547e-05, 0.005128128919750452, 0.0011491453042253852, 0.0019323972519487143, 0.00022518013429362327, 0.00023049325682222843, 8.746560342842713e-05], "count": [1486]}, "timestamp": {"min": [0.0], "max": [49.5], "mean": [24.75], "std": [14.299038429209148], "count": [1486]}, "frame_index": {"min": [0], "max": [1485], "mean": [742.5], "std": [428.9711528762744], "count": [1486]}, "episode_index": {"min": [34], "max": [34], "mean": [34.0], "std": [0.0], "count": [1486]}, "index": {"min": [51594], "max": [53079], "mean": [52336.5], "std": [428.9711528762744], "count": [1486]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1486]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34537839889526367]], [[0.3446429371833801]], [[0.3445310890674591]]], "std": [[[0.22064153850078583]], [[0.22058913111686707]], [[0.22058314085006714]]], "count": [1486]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30443957448005676]], [[0.3057667911052704]], [[0.3037598431110382]]], "std": [[[0.17036350071430206]], [[0.17242223024368286]], [[0.1718546599149704]]], "count": [1486]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30875784158706665]], [[0.30805814266204834]], [[0.30612272024154663]]], "std": [[[0.17369753122329712]], [[0.17464913427829742]], [[0.1730506420135498]]], "count": [1486]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34503060579299927]], [[0.3442811667919159]], [[0.34430837631225586]]], "std": [[[0.22200363874435425]], [[0.2220100462436676]], [[0.22209496796131134]]], "count": [1486]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7686274647712708]], [[0.7686274647712708]], [[0.7686274647712708]]], "mean": [[[0.008072062395513058]], [[0.008072062395513058]], [[0.008072062395513058]]], "std": [[[0.0618208684027195]], [[0.0618208684027195]], [[0.0618208684027195]]], "count": [1486]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[0.95686274766922]], [[0.95686274766922]], [[0.95686274766922]]], "mean": [[[0.4740179181098938]], [[0.4740179181098938]], [[0.4740179181098938]]], "std": [[[0.15220579504966736]], [[0.15220579504966736]], [[0.15220579504966736]]], "count": [1486]}}}
+{"episode_index": 35, "stats": {"observation.state": {"min": [0.8431107401847839, -0.897837221622467, 2.6365294161223574e-06, 1.131115436553955, -0.6808202266693115, -0.7700001001358032, 0.39471182227134705, 0.007662331219762564, -0.205858513712883, -0.22385604679584503, -0.31700995564460754, 0.0024971861857920885, 0.003147626295685768, -0.0011762817157432437, 0.003430041251704097, 0.0008336350438185036, 0.0039279707707464695, -0.0007435472216457129, 0.003660507034510374, 0.0008997050463221967, 0.0033394619822502136, 0.00013762126036453992, 0.003137172432616353, 0.000870439107529819, 0.005510153714567423, 0.003244525520130992, 9.22382459975779e-05, 0.006488500628620386, 0.0008380693034268916, 0.32482069730758667, -1.0496933460235596, 0.0001829991233535111, 1.1864559650421143, -1.785223126411438, -0.7698173522949219, -0.3709203898906708, 0.006376453209668398, -0.3202742636203766, -0.1558017134666443, -0.30102846026420593, 0.0068877381272614, 0.003115244908258319, 4.4401833292795345e-05, 0.003492798889055848, 0.0011413705069571733, 0.0032536021899431944, -9.616329043637961e-05, 0.0033988396171480417, 0.001292577711865306, 0.006716212257742882, -0.0036465951707214117, 0.0035122998524457216, 0.0012269511353224516, 0.010365254245698452, 0.0033338197972625494, -0.00028652703622356057, 0.00678136944770813, 0.0008695522556081414, 0.5624915957450867, -1.1069588661193848, 0.5074599981307983, -0.01131310872733593, -0.06490655988454819, -0.061167482286691666, -0.859316885471344], "max": [1.050019383430481, -0.5431687235832214, 0.34653547406196594, 1.6253494024276733, -5.512743882718496e-06, -0.3690822422504425, 0.6008684039115906, 1.252547264099121, -4.354330667410977e-05, 0.5574198961257935, -0.0024476659018546343, 0.9372649788856506, 1.235700249671936, 0.24089021980762482, 0.18577535450458527, 0.08952397853136063, 1.3103150129318237, 0.21961437165737152, 0.003727519419044256, 0.06664468348026276, 1.18267023563385, 0.1358807533979416, 0.003190356772392988, 0.31374916434288025, 0.06158463656902313, 0.7913239598274231, 0.18766632676124573, 0.09771078824996948, 0.08721685409545898, 1.1525198221206665, -0.371456116437912, 0.7955895662307739, 1.8910609483718872, -0.00031434622360393405, 0.11429055780172348, 0.5197460055351257, 1.3274362087249756, 0.0012090906966477633, 0.5628612637519836, 0.31459447741508484, 0.5996696949005127, 1.4664902687072754, 0.13424894213676453, 0.10803566128015518, 0.4894829988479614, 1.466741919517517, 0.21860384941101074, 1.653364658355713, 1.27106773853302, 1.4665132761001587, 0.24903610348701477, 1.6537213325500488, 0.9752159714698792, 0.14587777853012085, 1.4666098356246948, 0.19845721125602722, 1.6534650325775146, 1.3080966472625732, 0.5631626844406128, -1.1062877178192139, 0.5442755818367004, 9.58738019107841e-05, 0.0, 0.09721603244543076, -0.5996906161308289], "mean": [0.9345507025718689, -0.6250813603401184, 0.18587686121463776, 1.249105453491211, -0.5870544910430908, -0.445817768573761, 0.552942156791687, 1.2045341730117798, -0.1642744243144989, 0.41975921392440796, -0.3075321912765503, 0.8022057414054871, 1.1750307083129883, 0.20614223182201385, 0.09522224962711334, 0.08444192260503769, 1.2318512201309204, 0.1849784106016159, 0.003698142943903804, 0.05662735924124718, 1.1117466688156128, 0.09654238820075989, 0.0031645132694393396, 0.29711854457855225, 0.05977407097816467, 0.7281819581985474, 0.12395892292261124, 0.0677248165011406, 0.05875555798411369, 0.9018475413322449, -0.7187837362289429, 0.38609668612480164, 1.447285532951355, -1.206300973892212, -0.2501181960105896, -0.08886974304914474, 1.2388331890106201, -0.25490260124206543, 0.23403982818126678, -0.07441232353448868, 0.5639844536781311, 1.2091562747955322, 0.07414322346448898, 0.09830395877361298, 0.4294900596141815, 1.407725214958191, 0.16188080608844757, 1.292527675628662, 1.1340358257293701, 1.287044644355774, 0.15696941316127777, 1.4849885702133179, 0.8454157710075378, 0.11135601997375488, 1.421352744102478, 0.13159698247909546, 1.3597114086151123, 1.0873290300369263, 0.5628681182861328, -1.1064800024032593, 0.512122392654419, -0.007913661189377308, -0.05400761216878891, 0.015377654694020748, -0.7400767803192139], "std": [0.040279027074575424, 0.09063870459794998, 0.05260208249092102, 0.1455266922712326, 0.160084068775177, 0.047340597957372665, 0.033945996314287186, 0.16528844833374023, 0.022817708551883698, 0.17747582495212555, 0.040006961673498154, 0.10775087028741837, 0.1743616759777069, 0.04244285076856613, 0.04250049963593483, 0.011549849063158035, 0.2049202024936676, 0.028408553451299667, 9.883031452773139e-06, 0.01925220713019371, 0.1787624955177307, 0.018352655693888664, 7.93070921645267e-06, 0.0469960942864418, 0.008242592215538025, 0.10628800839185715, 0.023561647161841393, 0.02183215133845806, 0.01988810859620571, 0.22152024507522583, 0.18050040304660797, 0.18717597424983978, 0.19426298141479492, 0.43835118412971497, 0.21360881626605988, 0.17139697074890137, 0.1622610092163086, 0.05656363442540169, 0.22302721440792084, 0.16001424193382263, 0.07554777711629868, 0.223658949136734, 0.02908037044107914, 0.014282391406595707, 0.06736215204000473, 0.18583931028842926, 0.026007577776908875, 0.5549079775810242, 0.2312537133693695, 0.3167155683040619, 0.03546510636806488, 0.3869380056858063, 0.17417001724243164, 0.029011955484747887, 0.17465408146381378, 0.03581569343805313, 0.5869461894035339, 0.46566420793533325, 6.291169120231643e-05, 6.963912164792418e-05, 0.004798802547156811, 0.002742000622674823, 0.00827572587877512, 0.0391521193087101, 0.07613898813724518], "count": [1444]}, "observation.state.joint_torque": {"min": [-41.878501892089844, -9.010499954223633, -22.327999114990234, -14.824999809265137, -0.4544000029563904, -1.0880000591278076, -0.9919999837875366, -1.1652777194976807, -0.6342166662216187, -0.7431283593177795, -0.7543126344680786, -0.4150640070438385, -0.3338935375213623, -0.5334621071815491, -0.23409610986709595, -0.04780469834804535, -0.520029604434967, -0.3434881865978241, -0.0, -0.021405089646577835, -0.6668275594711304, -0.9469912052154541, -0.004980768077075481, -0.02497260272502899, -0.09939504414796829, -0.36747482419013977, -0.35883960127830505, -0.10791664570569992, -0.027826614677906036, 10.924500465393066, -17.52750015258789, 1.402999997138977, -14.661999702453613, -1.8272000551223755, -1.6887999773025513, -3.308799982070923, -1.7383649349212646, -0.946230947971344, -1.2389614582061768, -0.854970395565033, -0.1062563955783844, -0.5478540658950806, -1.0141537189483643, -0.0879935771226883, -0.03139413148164749, -0.4096912145614624, -0.37323158979415894, -0.6325575709342957, -0.027826614677906036, -0.4922051727771759, -0.5948678255081177, -0.46487167477607727, -0.03139413148164749, -0.05233633145689964, -0.4077723026275635, -0.7656524777412415, -0.33869224786758423, -0.05708024278283119, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-19.358999252319336, 15.333000183105469, -8.17199993133545, 1.3009999990463257, 1.7503999471664429, 1.86080002784729, 5.55679988861084, 0.794681191444397, 1.1245248317718506, 1.3234645128250122, 1.0401310920715332, 0.19258970022201538, 1.0304646492004395, 0.8126662373542786, 0.6458396315574646, 0.15054912865161896, 0.4835699200630188, 0.5372999906539917, 0.0016602561809122562, 0.03781566023826599, 0.5593676567077637, 0.2887987494468689, 0.0016602561809122562, 0.020691584795713425, 0.07696519792079926, 0.3099069595336914, 0.33005571365356445, 0.10293588042259216, 0.01783757284283638, 53.06100082397461, 22.42650032043457, 29.861000061035156, 3.2070000171661377, 0.09679999947547913, 3.3824000358581543, 0.9079999923706055, 1.7549208402633667, 3.3302745819091797, 1.501168966293335, 1.2650580406188965, 0.35031402111053467, 2.1405646800994873, 0.6716248393058777, 1.0559228658676147, 0.21405088901519775, 0.4307994544506073, 0.35404229164123535, 0.23243583738803864, 0.022832093760371208, 0.5948678255081177, 0.806909441947937, 0.7271921634674072, 0.02925362065434456, 0.4771842062473297, 0.32046106457710266, 0.4164074659347534, 0.2988460958003998, 0.04709119349718094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.546615600585938, 2.3952174186706543, -14.2601318359375, -5.883785724639893, 0.20230890810489655, 0.5204347372055054, 1.8152589797973633, -0.11319670081138611, 0.11508937180042267, 0.27687868475914, 0.13196098804473877, 0.0042184870690107346, 0.32746729254722595, 0.2110755741596222, 0.15436241030693054, 0.06223342567682266, -0.010645780712366104, 0.09632782638072968, 3.449285713941208e-06, 0.004361070226877928, -0.013013908639550209, -0.09833326935768127, -2.299523430338013e-06, -0.001160183921456337, -0.0003231498703826219, 0.011626489460468292, 0.008830519393086433, 0.0016384131740778685, 0.0013568445574492216, 27.208223342895508, 3.8841893672943115, 14.066730499267578, -6.850818634033203, -0.607653021812439, 1.0657356977462769, -1.1130642890930176, 0.013151532970368862, 0.4217684864997864, 0.11862529069185257, 0.07806917279958725, 0.030080074444413185, 0.2601391673088074, -0.07819955796003342, 0.1473948359489441, 0.030402911826968193, 0.01037337351590395, 0.004979387857019901, 0.0024754253681749105, 0.0001418109895894304, -0.00991156417876482, 0.053304024040699005, 0.0018177743768319488, 5.385992335504852e-05, 0.07539176940917969, -0.0023009879514575005, -0.08237771689891815, -0.0017464860575273633, -0.000538091582711786, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.3528378009796143, 1.9071393013000488, 1.083570957183838, 1.2648515701293945, 0.293061226606369, 0.37282639741897583, 0.49302974343299866, 0.24931909143924713, 0.2315554916858673, 0.3455248475074768, 0.21331685781478882, 0.037570271641016006, 0.2461538165807724, 0.233048677444458, 0.131928488612175, 0.036076195538043976, 0.1447155624628067, 0.11940594017505646, 7.559580990346149e-05, 0.006841673515737057, 0.14422544836997986, 0.1638898104429245, 0.00013814368867315352, 0.007203477434813976, 0.007429580204188824, 0.07582349330186844, 0.06726944446563721, 0.017607858404517174, 0.007403222844004631, 4.956501483917236, 3.3547756671905518, 2.121783494949341, 2.3797640800476074, 0.2371368259191513, 0.6916225552558899, 0.7406191229820251, 0.397544264793396, 0.76912921667099, 0.28645673394203186, 0.28670480847358704, 0.06568929553031921, 0.5155419707298279, 0.26854220032691956, 0.2851807177066803, 0.056310515850782394, 0.07288561761379242, 0.08498717844486237, 0.04320691525936127, 0.005489391274750233, 0.12719479203224182, 0.1624072790145874, 0.02854706346988678, 0.007901960983872414, 0.09407252818346024, 0.07727176696062088, 0.1811169981956482, 0.025402570143342018, 0.005080668721348047, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1444]}, "observation.state.tcp": {"min": [0.3523237705230713, 0.1279131919145584, 1.0329294204711914, -1.2089263200759888, 1.0888577699661255, -1.6908537149429321, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25533393025398254, -0.32699620723724365, 0.9732376933097839, -0.2919079065322876, 0.9652569890022278, 0.17218604683876038, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.44444242119789124, 0.2346021980047226, 1.1472549438476562, -0.3977484703063965, 1.407938003540039, -1.2288601398468018, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4419645071029663, -0.10458450764417648, 1.2270073890686035, 1.2087777853012085, 2.095853567123413, 1.455573558807373, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.40447893738746643, 0.1531176120042801, 1.0572508573532104, -0.582404375076294, 1.2644973993301392, -1.432704210281372, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.37078675627708435, -0.2209402322769165, 1.1085649728775024, 0.3832225501537323, 1.557633876800537, 0.8231767416000366, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.02116883546113968, 0.02018563635647297, 0.0200602225959301, 0.1862800419330597, 0.05117614567279816, 0.0777803510427475, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.060302816331386566, 0.062439560890197754, 0.07401861250400543, 0.4670315682888031, 0.3031490445137024, 0.3769418001174927, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1444]}, "action": {"min": [0.842705249786377, -0.8981834650039673, -2.914010390747527e-17, 1.1309782266616821, -0.680810272693634, -0.7699999809265137, 0.39472612738609314, 0.0, -0.2024746537208557, -0.22907982766628265, -0.3490658402442932, 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, 0.32473912835121155, -1.0512195825576782, 0.0016053018625825644, 1.1864659786224365, -1.785197377204895, -0.7675628066062927, -0.3710085153579712, 0.0, -0.3490658402442932, -0.16160698235034943, -0.30534738302230835, 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, 0.5626834034919739, -1.1069231033325195, 0.5069856643676758, -0.011751699261367321, -0.0658019632101059, -0.06168634817004204, -0.8592831492424011], "max": [1.0499999523162842, -0.5431333780288696, 0.346584290266037, 1.6254836320877075, 4.552692572778762e-17, -0.369069904088974, 0.6011264324188232, 1.2553714513778687, 0.0, 0.5643046498298645, 0.0, 0.9420846104621887, 1.2389909029006958, 0.2441052794456482, 0.19267861545085907, 0.09019804000854492, 1.3146758079528809, 0.22138351202011108, 0.0, 0.06654596328735352, 1.1845169067382812, 0.13605564832687378, 0.0, 0.3168056309223175, 0.0800066739320755, 0.8000667691230774, 0.18514293432235718, 0.10482833534479141, 0.09019804000854492, 1.1525166034698486, -0.37145912647247314, 0.7960139513015747, 1.8914655447006226, -0.003864677855744958, 0.11469366401433945, 0.5167645215988159, 1.3270854949951172, 0.0, 0.5647329092025757, 0.3490658402442932, 0.6059224605560303, 1.5707963705062866, 0.1388360857963562, 0.11434967815876007, 0.4942485988140106, 1.5707963705062866, 0.21946567296981812, 1.7453292608261108, 1.2750256061553955, 1.5707963705062866, 0.25033730268478394, 1.7453292608261108, 0.9797823429107666, 0.1576644480228424, 1.5707963705062866, 0.20297569036483765, 1.7453292608261108, 1.3962633609771729, 0.5629709362983704, -1.106479525566101, 0.5442397594451904, -4.3041263961991355e-20, 6.356902653009566e-19, 0.0975932851433754, -0.6000000238418579], "mean": [0.9345861077308655, -0.6251313090324402, 0.18588876724243164, 1.2491354942321777, -0.5870712399482727, -0.44586846232414246, 0.5530250668525696, 1.1996946334838867, -0.16312900185585022, 0.4259449541568756, -0.34084630012512207, 0.8022584319114685, 1.1809951066970825, 0.20760409533977509, 0.0976572185754776, 0.08651574701070786, 1.2336472272872925, 0.18896576762199402, 0.0, 0.05795035511255264, 1.1117315292358398, 0.09739986062049866, 0.0, 0.2991553246974945, 0.07322540134191513, 0.732254683971405, 0.1261911541223526, 0.07164440304040909, 0.06140805780887604, 0.9022095203399658, -0.7190614938735962, 0.38540366291999817, 1.4471900463104248, -1.2058629989624023, -0.2508859932422638, -0.08875918388366699, 1.2393555641174316, -0.25712376832962036, 0.23564572632312775, -0.07394769787788391, 0.565927267074585, 1.2191505432128906, 0.07415468245744705, 0.10101836174726486, 0.43253299593925476, 1.4875388145446777, 0.16290675103664398, 1.3064429759979248, 1.1358873844146729, 1.3607313632965088, 0.1566707193851471, 1.5622930526733398, 0.8470670580863953, 0.12575705349445343, 1.5111849308013916, 0.132249653339386, 1.424080729484558, 1.1509793996810913, 0.5629670023918152, -1.1065759658813477, 0.5121633410453796, -0.007962318137288094, -0.05405508354306221, 0.015399827621877193, -0.7401461005210876], "std": [0.040307242423295975, 0.09074024856090546, 0.05267411842942238, 0.14565902948379517, 0.16010643541812897, 0.04751712828874588, 0.03370848670601845, 0.17956121265888214, 0.025842875242233276, 0.17865480482578278, 0.05137648805975914, 0.1242167055606842, 0.1884080171585083, 0.04279017448425293, 0.04383160173892975, 0.013083855621516705, 0.21462003886699677, 0.03134884685277939, 0.0, 0.020146366208791733, 0.1883762776851654, 0.019046898931264877, 0.0, 0.049343787133693695, 0.011620573699474335, 0.11620573699474335, 0.026477085426449776, 0.023618469014763832, 0.020238956436514854, 0.22214269638061523, 0.18087852001190186, 0.18718169629573822, 0.1944488137960434, 0.4386358857154846, 0.21380874514579773, 0.17134767770767212, 0.17962861061096191, 0.06788225471973419, 0.22307495772838593, 0.16470280289649963, 0.08680616319179535, 0.24255363643169403, 0.0295270886272192, 0.0160567257553339, 0.07494732737541199, 0.2281007319688797, 0.029047301039099693, 0.5634416341781616, 0.23700276017189026, 0.3641735017299652, 0.037581391632556915, 0.4185261130332947, 0.179841086268425, 0.03201917186379433, 0.21631723642349243, 0.03730343282222748, 0.6190698146820068, 0.49519476294517517, 3.947670484194532e-05, 4.5512308133766055e-05, 0.004987150896340609, 0.002763191470876336, 0.008540619164705276, 0.0392165370285511, 0.07620634883642197], "count": [1444]}, "observation.state.tcp_pose": {"min": [0.3523237705230713, 0.1279131919145584, 1.0329294204711914, -1.2089263200759888, 1.0888577699661255, -1.6908537149429321, 0.25533393025398254, -0.32699620723724365, 0.9732376933097839, -0.2919079065322876, 0.9652569890022278, 0.17218604683876038], "max": [0.44444242119789124, 0.2346021980047226, 1.1472549438476562, -0.3977484703063965, 1.407938003540039, -1.2288601398468018, 0.4419645071029663, -0.10458450764417648, 1.2270073890686035, 1.2087777853012085, 2.095853567123413, 1.455573558807373], "mean": [0.40447893738746643, 0.1531176120042801, 1.0572508573532104, -0.582404375076294, 1.2644973993301392, -1.432704210281372, 0.37078675627708435, -0.2209402322769165, 1.1085649728775024, 0.3832225501537323, 1.557633876800537, 0.8231767416000366], "std": [0.02116883546113968, 0.02018563635647297, 0.0200602225959301, 0.1862800419330597, 0.05117614567279816, 0.0777803510427475, 0.060302816331386566, 0.062439560890197754, 0.07401861250400543, 0.4670315682888031, 0.3031490445137024, 0.3769418001174927], "count": [1444]}, "action.tcp_pose": {"min": [0.3523305654525757, 0.12812873721122742, 1.0327415466308594, -1.208855390548706, 1.0807955265045166, -1.6933623552322388, 0.25536951422691345, -0.3244020938873291, 0.9733814597129822, -0.2906470000743866, 0.964662492275238, 0.17240923643112183], "max": [0.44481179118156433, 0.23624050617218018, 1.1474614143371582, -0.3974388539791107, 1.407784104347229, -1.2289544343948364, 0.4421817362308502, -0.10533321648836136, 1.2312111854553223, 1.2070497274398804, 2.096465826034546, 1.475264549255371], "mean": [0.40452027320861816, 0.1531245857477188, 1.0572426319122314, -0.5823372006416321, 1.2643837928771973, -1.43274986743927, 0.37076354026794434, -0.22108690440654755, 1.108529806137085, 0.3836059868335724, 1.5573495626449585, 0.8226314783096313], "std": [0.021200044080615044, 0.020341604948043823, 0.020092377439141273, 0.18610374629497528, 0.051304545253515244, 0.07790392637252808, 0.06046948954463005, 0.0627565085887909, 0.07407180964946747, 0.46759232878685, 0.30324864387512207, 0.3775433599948883], "count": [1444]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.901662049861496], "std": [6.921704792721968], "count": [1444]}, "observation.tactile": {"min": [-7.425758361816406, -0.008148193359375, -0.00164794921875, -0.16928577423095703, -0.01843881607055664, -0.16468167304992676, -4.771879196166992, -0.002410888671875, -0.00543212890625, -0.3619832992553711, -0.018239498138427734, -0.08086252212524414, -3.5343246459960938, -0.016510009765625, -0.00286865234375, -0.06083202362060547, -0.009013175964355469, -0.07191634178161621, -0.011295318603515625, -0.008087158203125, -0.0059814453125, -0.000255584716796875, -0.0009980201721191406, -0.0005702972412109375, -0.0005397796630859375, -0.0006103515625, -0.004150390625, 0.0, -0.0014071464538574219, -0.0003292560577392578, -0.6196060180664062, -0.024169921875, -0.01513671875, -0.3938150405883789, -0.04019021987915039, -0.020503759384155273, -8.087371826171875, -0.015411376953125, -0.0052490234375, -0.14978694915771484, -0.02094888687133789, -0.12388157844543457, -0.03719329833984375, -0.00579833984375, -0.00946044921875, -0.0006656646728515625, -0.0015740394592285156, -0.0005533695220947266, -0.012508392333984375, -0.01531982421875, -0.01251220703125, -0.00029754638671875, -0.0012807846069335938, -0.0007038116455078125, -0.023813247680664062, -0.00433349609375, -0.00775146484375, -0.000209808349609375, -0.0015363693237304688, -0.0003998279571533203], "max": [2.4394760131835938, 6.7125244140625, 6.733642578125, 0.0016021728515625, 0.002089977264404297, 0.05733370780944824, 6.517183303833008, 13.227264404296875, 23.98345947265625, 0.0020227432250976562, 0.038279056549072266, 0.10761404037475586, 3.0770034790039062, 2.77264404296875, 5.6439208984375, 0.0015077590942382812, 0.01757526397705078, 0.04054093360900879, 0.018306732177734375, 0.0065765380859375, 0.00335693359375, 0.0007266998291015625, 7.915496826171875e-05, 0.0, 0.03222846984863281, 0.02215576171875, 0.005126953125, 0.0016231536865234375, 0.0, 0.00027751922607421875, 9.540061950683594, 22.98486328125, 18.20361328125, 0.004149436950683594, 0.05792379379272461, 0.15112709999084473, 1.329620361328125, 10.243133544921875, 6.94183349609375, 0.0035181045532226562, 0.0038084983825683594, 0.02869105339050293, 0.02507781982421875, 0.038543701171875, 0.0107421875, 0.00168609619140625, 0.0004990100860595703, 0.0, 0.020355224609375, 0.028289794921875, 0.01690673828125, 0.001033782958984375, 0.0002593994140625, 0.0, 0.009618759155273438, 0.0460205078125, 0.0126953125, 0.0011920928955078125, 0.00046706199645996094, 0.00013375282287597656], "mean": [-4.1288371086120605, 3.596970796585083, 2.7917916774749756, -0.06807361543178558, -0.004200462717562914, -0.0962589904665947, 1.3158921003341675, 1.4838261604309082, 5.077510833740234, -0.08307288587093353, 0.0048973290249705315, 0.02103535085916519, 0.04427066445350647, 0.17981162667274475, 0.32213449478149414, -0.005322260316461325, -0.00011288013774901628, 0.0002894363715313375, 0.006677549798041582, -0.0012460745638236403, -0.001491726259700954, 0.00019693770445883274, -0.000362396240234375, -0.00024275387113448232, 0.007816268131136894, 0.005035231355577707, 0.0012985187349840999, 0.0010570884915068746, -0.0008216085843741894, -0.00016407556540798396, 1.129386067390442, 2.8032922744750977, 2.823479175567627, -0.06372392922639847, -0.00286920671351254, 0.021274350583553314, -0.8326365351676941, 1.1870352029800415, 1.429918646812439, -0.027069831266999245, -0.003004844067618251, -0.014754951931536198, 0.006382291205227375, 0.003266099374741316, -0.0036206443328410387, 0.001010602805763483, -0.0009399399859830737, -0.0003254581242799759, 0.005387050099670887, 0.0025191691238433123, -0.0012086989590898156, 0.0004090047732461244, -0.0005718426546081901, -0.00039699632907286286, 0.00026278087170794606, 0.000814348051790148, -0.00015711058222223073, 0.00041527036228217185, -0.00024239689810201526, -6.931904499651864e-05], "std": [1.9057049751281738, 1.655988335609436, 1.2805933952331543, 0.031713951379060745, 0.002947109052911401, 0.04443817213177681, 0.9789082407951355, 1.3629714250564575, 2.914658308029175, 0.0455717071890831, 0.0049522933550179005, 0.01672186143696308, 0.3046490252017975, 0.21219293773174286, 0.4098638892173767, 0.006567789241671562, 0.0020697726868093014, 0.005141381174325943, 0.0032071550376713276, 0.0016640869434922934, 0.001580936019308865, 0.00017065378779079765, 0.0001884743687696755, 8.325790986418724e-05, 0.002997872419655323, 0.001613167580217123, 0.0010580840753391385, 0.0001317554124398157, 0.00010747875057859346, 6.579162436537445e-05, 1.7355717420578003, 4.673689365386963, 4.309952259063721, 0.09969329088926315, 0.009981104172766209, 0.03321626037359238, 1.5041956901550293, 1.7667827606201172, 2.0223934650421143, 0.040397096425294876, 0.004397264681756496, 0.027117135003209114, 0.005584947299212217, 0.0020857704803347588, 0.0018476981204003096, 0.00031705322908237576, 0.00029781670309603214, 0.00010055257007479668, 0.0046594771556556225, 0.002250868594273925, 0.0032487339340150356, 0.00024355857749469578, 0.00027969820075668395, 0.00010589329758659005, 0.003268209518864751, 0.001697411178611219, 0.0020506910514086485, 0.00023942984989844263, 0.0002371251321164891, 8.343916124431416e-05], "count": [1444]}, "timestamp": {"min": [0.0], "max": [48.1], "mean": [24.049999999999997], "std": [13.894893146604458], "count": [1444]}, "frame_index": {"min": [0], "max": [1443], "mean": [721.5], "std": [416.84679439813374], "count": [1444]}, "episode_index": {"min": [35], "max": [35], "mean": [35.0], "std": [0.0], "count": [1444]}, "index": {"min": [53080], "max": [54523], "mean": [53801.5], "std": [416.84679439813374], "count": [1444]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1444]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3467881381511688]], [[0.3460097312927246]], [[0.34600940346717834]]], "std": [[[0.22126427292823792]], [[0.22117331624031067]], [[0.2212081402540207]]], "count": [1444]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30466488003730774]], [[0.305367112159729]], [[0.30297961831092834]]], "std": [[[0.16976319253444672]], [[0.17202964425086975]], [[0.17141826450824738]]], "count": [1444]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3078553080558777]], [[0.30706027150154114]], [[0.30578479170799255]]], "std": [[[0.17335091531276703]], [[0.17417125403881073]], [[0.17313189804553986]]], "count": [1444]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3462032973766327]], [[0.3454267978668213]], [[0.3455561697483063]]], "std": [[[0.22246228158473969]], [[0.22243846952915192]], [[0.22258815169334412]]], "count": [1444]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.772549033164978]], [[0.772549033164978]], [[0.772549033164978]]], "mean": [[[0.007522121071815491]], [[0.007522121071815491]], [[0.007522121071815491]]], "std": [[[0.05888916924595833]], [[0.05888916924595833]], [[0.05888916924595833]]], "count": [1444]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.9529411792755127]], [[0.9529411792755127]], [[0.9529411792755127]]], "mean": [[[0.47401517629623413]], [[0.47401517629623413]], [[0.47401517629623413]]], "std": [[[0.15239261090755463]], [[0.15239261090755463]], [[0.15239261090755463]]], "count": [1444]}}}
+{"episode_index": 36, "stats": {"observation.state": {"min": [0.78968346118927, -0.8499121069908142, -1.5579491901007714e-06, 1.1102609634399414, -0.8229054808616638, -0.7700145840644836, 0.4261672794818878, 0.006277622655034065, -0.23288364708423615, -0.22918187081813812, -0.31697791814804077, 0.002302885986864567, 0.0031108292751014233, -0.00021244207164272666, 0.003369410987943411, 0.0008615707047283649, 0.0034677614457905293, -0.0007617005612701178, 0.0034913807176053524, 0.0008828549762256444, 0.003347557270899415, 8.929444447858259e-05, 0.0030651960987597704, 0.0008500416879542172, 0.006087071727961302, 0.003250658279284835, 4.219411130179651e-05, 0.006460844539105892, 0.0008487114100717008, 0.31890222430229187, -1.0550317764282227, 0.0008416521595790982, 1.140606164932251, -2.0454301834106445, -0.7692097425460815, -0.35140275955200195, 0.0063813310116529465, -0.3172991871833801, -0.1311839520931244, -0.2993861138820648, 0.0069068847224116325, 0.003150815609842539, 1.717102122711367e-06, 0.003492089919745922, 0.0008819681243039668, 0.0033016835805028677, -0.0009491202072240412, 0.0033942305017262697, 0.001148465322330594, 0.0032761709298938513, -0.003258263226598501, 0.0035105268470942974, 0.0010877163149416447, 0.010434826835989952, 0.0033313666936010122, -0.00027475180104374886, 0.0068029980175197124, 0.0008513719658367336, 0.5624915957450867, -1.1069588661193848, 0.5022828578948975, -0.013709953054785728, -0.0637560784816742, -0.03959587961435318, -0.8419637084007263], "max": [1.0500085353851318, -0.5282800197601318, 0.45901092886924744, 1.6774506568908691, 5.15321698912885e-06, -0.435772180557251, 0.5691882371902466, 1.240709900856018, 0.0010929154232144356, 0.5256580114364624, -0.0024542950559407473, 0.9031592011451721, 1.174049735069275, 0.26763999462127686, 0.21696127951145172, 0.08720310777425766, 1.300180196762085, 0.2407425493001938, 0.02620006911456585, 0.10553907603025436, 1.1736353635787964, 0.16427169740200043, 0.11544248461723328, 0.3322124481201172, 0.054348014295101166, 0.762814998626709, 0.2194310873746872, 0.0841406062245369, 0.07318960875272751, 1.2895745038986206, -0.39227110147476196, 0.7988070249557495, 1.8832441568374634, -0.0012391688069328666, 0.09229902178049088, 0.5190851092338562, 1.3222455978393555, 0.00125245307572186, 0.5368589758872986, 0.31424960494041443, 0.6189851760864258, 1.4665144681930542, 0.15928231179714203, 0.10812501609325409, 0.4894528388977051, 1.4669193029403687, 0.21889066696166992, 1.653344750404358, 1.2433613538742065, 1.466863989830017, 0.28014785051345825, 1.653717041015625, 0.9427033066749573, 0.13855017721652985, 1.4665756225585938, 0.2038135975599289, 1.653438687324524, 1.308064341545105, 0.5632585883140564, -1.1062877178192139, 0.5441796779632568, 0.0025885924696922302, 9.58738019107841e-05, 0.15004248917102814, -0.5998823642730713], "mean": [0.9349631071090698, -0.5884894132614136, 0.1955651342868805, 1.2405836582183838, -0.749576210975647, -0.5320528149604797, 0.4937409460544586, 1.2089271545410156, -0.18135230243206024, 0.42223286628723145, -0.3095601499080658, 0.7994126081466675, 1.1401386260986328, 0.23415575921535492, 0.17064061760902405, 0.08416757732629776, 1.2503429651260376, 0.2123563587665558, 0.004142304416745901, 0.09647848457098007, 1.1335442066192627, 0.11811130493879318, 0.003995849285274744, 0.3168647587299347, 0.05302425101399422, 0.7220028638839722, 0.12859579920768738, 0.07293494790792465, 0.06437594443559647, 0.9818686842918396, -0.6358531713485718, 0.37667059898376465, 1.4286783933639526, -1.3602687120437622, -0.18235884606838226, -0.08516830950975418, 1.2569702863693237, -0.22717401385307312, 0.26553890109062195, -0.15707632899284363, 0.5669930577278137, 1.240889549255371, 0.07770774513483047, 0.09706506133079529, 0.41090166568756104, 1.4263875484466553, 0.16776426136493683, 1.4453318119049072, 1.1438153982162476, 1.371614933013916, 0.157743439078331, 1.5267333984375, 0.8673000931739807, 0.11247668415307999, 1.4286352396011353, 0.1326087862253189, 1.4672349691390991, 1.1663718223571777, 0.5628661513328552, -1.1064677238464355, 0.5073362588882446, -0.009459655731916428, -0.0542389415204525, 0.07022454589605331, -0.7175481915473938], "std": [0.03459357097744942, 0.07733213156461716, 0.05023160204291344, 0.10770717263221741, 0.1500423401594162, 0.03317095339298248, 0.032890524715185165, 0.1363668292760849, 0.021523015573620796, 0.1405756175518036, 0.033570289611816406, 0.08784577250480652, 0.13697531819343567, 0.03825581073760986, 0.045738402754068375, 0.009616151452064514, 0.16650430858135223, 0.029703952372074127, 0.003115077270194888, 0.02458123117685318, 0.1467471569776535, 0.02146752178668976, 0.007768566720187664, 0.04484981670975685, 0.005695103667676449, 0.08511916548013687, 0.030975710600614548, 0.019214682281017303, 0.017502358183264732, 0.23718300461769104, 0.17011459171772003, 0.2125478982925415, 0.16063052415847778, 0.4587632715702057, 0.1945405900478363, 0.17112652957439423, 0.14291895925998688, 0.05190710350871086, 0.1814277470111847, 0.15081708133220673, 0.06466781347990036, 0.18813756108283997, 0.027341296896338463, 0.01185421459376812, 0.05688759684562683, 0.16110816597938538, 0.019916892051696777, 0.4919789135456085, 0.2086012065410614, 0.2413576990365982, 0.027233943343162537, 0.3852421045303345, 0.13139775395393372, 0.024111615493893623, 0.1529829055070877, 0.027277879416942596, 0.4759448766708374, 0.37250110507011414, 4.520273796515539e-05, 5.338807022781111e-05, 0.004280954599380493, 0.004204250406473875, 0.006559082306921482, 0.059751998633146286, 0.061097484081983566], "count": [2370]}, "observation.state.joint_torque": {"min": [-37.9005012512207, -7.3379998207092285, -18.868999481201172, -10.520999908447266, -0.31520000100135803, -0.7039999961853027, 0.741599977016449, -1.0442924499511719, -0.5820021033287048, -0.8363300561904907, -0.6660816073417664, -0.40178200602531433, -0.3713126480579376, -0.3972181975841522, -0.25235894322395325, -0.045664187520742416, -0.6102192401885986, -0.26097428798675537, -0.059769220650196075, -0.021405089646577835, -0.5152323246002197, -0.7522199749946594, -0.0531281977891922, -0.02996712550520897, -0.09015922993421555, -0.4116101562976837, -0.4643807113170624, -0.10957689583301544, -0.027826614677906036, 15.512999534606934, -17.832000732421875, 5.230999946594238, -17.93000030517578, -1.7943999767303467, -2.454400062561035, -2.5999999046325684, -1.5537036657333374, -0.8876487016677856, -0.9245610237121582, -1.2315053939819336, -0.13946151733398438, -0.6342058777809143, -1.170546293258667, -0.0979551151394844, -0.03068062849342823, -0.74262535572052, -0.29935285449028015, -0.254019170999527, -0.02925362065434456, -0.6121381521224976, -0.6198139190673828, -0.23741662502288818, -0.033534638583660126, -0.07608558982610703, -0.8251392245292664, -0.9680994153022766, -0.15274357795715332, -0.026399608701467514, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-18.298500061035156, 17.655000686645508, -5.230000019073486, 1.7730000019073486, 1.7888000011444092, 1.7192000150680542, 3.375200033187866, 0.8443487286567688, 0.8201517462730408, 1.0388884544372559, 1.061257004737854, 0.13448072969913483, 0.40585336089134216, 0.40585336089134216, 0.27892303466796875, 0.05565322935581207, 0.6514762043952942, 0.9325992465019226, 0.06641025096178055, 0.03638865053653717, 0.5603271126747131, 0.23506873846054077, 0.08301279693841934, 0.025686107575893402, 0.07916419953107834, 0.3502044379711151, 0.43655622005462646, 0.09961536526679993, 0.014983562752604485, 46.89149856567383, 25.599000930786133, 26.464000701904297, 2.6440000534057617, 0.1671999990940094, 3.2792000770568848, 0.9552000164985657, 1.371589183807373, 3.1366982460021973, 1.4079673290252686, 1.3880841732025146, 0.42004477977752686, 2.1396052837371826, 0.9546669721603394, 1.054262638092041, 0.21405088901519775, 0.5238674879074097, 0.32813677191734314, 0.13448072969913483, 0.0321076326072216, 0.5612865686416626, 0.9633020758628845, 0.13780125975608826, 0.022832093760371208, 0.49169760942459106, 0.3406097888946533, 0.2964744567871094, 0.3519743084907532, 0.08062583953142166, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-30.083372116088867, 1.6787384748458862, -14.280191421508789, -6.235641956329346, 0.20426969230175018, 0.8575056791305542, 1.6361180543899536, -0.013902951031923294, 0.018050292506814003, 0.15855452418327332, 0.010381949134171009, -0.0014907270669937134, 0.04143763706088066, 0.042993009090423584, 0.010278161615133286, 0.01868320070207119, -0.03955421596765518, 0.1471235156059265, -0.0006248721620067954, -0.000964583654422313, 0.002228223020210862, -0.034009840339422226, -0.00034115780727006495, 0.0001652794744586572, -1.4844722500129137e-05, 0.009618949145078659, 0.03860849514603615, 0.0007530713337473571, 0.0005611669621430337, 28.874231338500977, 2.548431634902954, 14.505435943603516, -6.564835548400879, -0.5648496747016907, 1.3088173866271973, -0.8500612378120422, 0.023745670914649963, 0.3750295639038086, 0.10892098397016525, 0.056906282901763916, 0.025065027177333832, 0.20304276049137115, -0.04717405140399933, 0.0928715318441391, 0.02262566052377224, 0.0031095403246581554, -0.00038095665513537824, 0.001584599376656115, 0.0005921722040511668, -0.008396326564252377, 0.03695527836680412, 0.0007705833413638175, 0.0005000531673431396, 0.09697504341602325, -0.011769870296120644, -0.05765722692012787, 0.001455001882277429, -0.0001288519415538758, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.7439322471618652, 1.67808997631073, 0.7454133033752441, 0.9310830235481262, 0.21142663061618805, 0.3460260331630707, 0.3539751470088959, 0.13807262480258942, 0.10849550366401672, 0.22118817269802094, 0.13306714594364166, 0.025020504370331764, 0.08307620137929916, 0.08616875857114792, 0.043607983738183975, 0.01202979777008295, 0.17189544439315796, 0.1586335152387619, 0.005026884377002716, 0.0041852411814033985, 0.08758272975683212, 0.09145239740610123, 0.006493601016700268, 0.004585073795169592, 0.005675723776221275, 0.07447205483913422, 0.07231981307268143, 0.012953408993780613, 0.0062570953741669655, 3.9258131980895996, 3.264117956161499, 1.8672211170196533, 2.6984975337982178, 0.25558263063430786, 0.7464245557785034, 0.855125367641449, 0.36287060379981995, 0.612997829914093, 0.2825707495212555, 0.2907944321632385, 0.06544893980026245, 0.3846086859703064, 0.2473488450050354, 0.17509578168392181, 0.043733563274145126, 0.061746083199977875, 0.05511833727359772, 0.01760718785226345, 0.005040246061980724, 0.10119135677814484, 0.12938375771045685, 0.01338510774075985, 0.006733397953212261, 0.10766232758760452, 0.07157562673091888, 0.15671060979366302, 0.019316155463457108, 0.004064167384058237, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2370]}, "observation.state.tcp": {"min": [0.3471403419971466, 0.11936817318201065, 1.0356531143188477, -1.2089035511016846, 1.017116904258728, -1.5726380348205566, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.25461068749427795, -0.32315793633461, 0.9756947755813599, -0.6861009001731873, 0.8885847330093384, 0.2164178490638733, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4483560025691986, 0.23933658003807068, 1.143035888671875, -0.2931845784187317, 1.3845514059066772, -1.2288687229156494, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4362870752811432, -0.08406372368335724, 1.251318097114563, 1.208287239074707, 2.091099977493286, 1.4787572622299194, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4041297435760498, 0.13675713539123535, 1.0638172626495361, -0.45720091462135315, 1.2477378845214844, -1.3367130756378174, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.37963780760765076, -0.1809789538383484, 1.1408159732818604, 0.17318350076675415, 1.4905494451522827, 0.7892453670501709, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.015663795173168182, 0.021761128678917885, 0.015740536153316498, 0.16908562183380127, 0.04495473578572273, 0.05273515358567238, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0474441833794117, 0.07520836591720581, 0.07680846750736237, 0.5800402164459229, 0.2642655670642853, 0.3969477415084839, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2370]}, "action": {"min": [0.7895519733428955, -0.8500252962112427, 1.8473588401908053e-17, 1.1103218793869019, -0.8228973746299744, -0.7699999809265137, 0.42598530650138855, 0.0, -0.2332502007484436, -0.2354075163602829, -0.3490658402442932, 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, 0.3184017539024353, -1.0569480657577515, 0.0008843746618367732, 1.1405705213546753, -2.045403003692627, -0.769150972366333, -0.3514326810836792, 0.0, -0.3490658402442932, -0.1355293244123459, -0.29930728673934937, 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, 0.5626834034919739, -1.1069231033325195, 0.5020526051521301, -0.014316649176180363, -0.06480370461940765, -0.039603132754564285, -0.8422375917434692], "max": [1.0499999523162842, -0.5282726883888245, 0.4597986042499542, 1.6777691841125488, -8.764850438364959e-18, -0.4348326623439789, 0.5695335865020752, 1.2446335554122925, 0.0, 0.5350918769836426, 0.0, 0.9099194407463074, 1.1776889562606812, 0.266650915145874, 0.2246340960264206, 0.08916264027357101, 1.3002060651779175, 0.24063467979431152, 0.030025141313672066, 0.10841400921344757, 1.1752820014953613, 0.16405075788497925, 0.11857219785451889, 0.33389031887054443, 0.07698667049407959, 0.7698667049407959, 0.22378003597259521, 0.08952691406011581, 0.07673735171556473, 1.2895222902297974, -0.3922305107116699, 0.7989094257354736, 1.883536696434021, -0.0013067297404631972, 0.09227035194635391, 0.5190322399139404, 1.3268933296203613, 0.0, 0.5375047326087952, 0.3490658402442932, 0.6278774738311768, 1.5707963705062866, 0.16395491361618042, 0.1138453558087349, 0.4930979013442993, 1.5707963705062866, 0.2197532057762146, 1.7453292608261108, 1.2459758520126343, 1.5707963705062866, 0.2789074778556824, 1.7453292608261108, 0.9475686550140381, 0.15331178903579712, 1.5707963705062866, 0.20941239595413208, 1.7453292608261108, 1.3962633609771729, 0.5629703998565674, -1.106479525566101, 0.5442397594451904, 0.0032714917324483395, 2.9146141969249584e-05, 0.15010741353034973, -0.6000000238418579], "mean": [0.935002863407135, -0.5885248780250549, 0.1955464482307434, 1.240592122077942, -0.7495943903923035, -0.5320550203323364, 0.49376747012138367, 1.2087373733520508, -0.18024833500385284, 0.4284280240535736, -0.34377920627593994, 0.802131175994873, 1.1429998874664307, 0.23877519369125366, 0.17101627588272095, 0.08637707680463791, 1.252318024635315, 0.21649259328842163, 0.0006106693763285875, 0.09827184677124023, 1.1360448598861694, 0.12236523628234863, 0.0009624865488149226, 0.3208940029144287, 0.07242464274168015, 0.7242468595504761, 0.13417918980121613, 0.07782219350337982, 0.06667827814817429, 0.9819275140762329, -0.6362419128417969, 0.37646445631980896, 1.428817629814148, -1.3597733974456787, -0.18255099654197693, -0.08519837260246277, 1.2601829767227173, -0.2251109778881073, 0.26690438389778137, -0.15708640217781067, 0.568385124206543, 1.2499336004257202, 0.07767371833324432, 0.10013871639966965, 0.4135499596595764, 1.5217156410217285, 0.1688433140516281, 1.5256332159042358, 1.145616054534912, 1.4613971710205078, 0.15858100354671478, 1.6106637716293335, 0.8693063855171204, 0.12921664118766785, 1.5255008935928345, 0.13333463668823242, 1.5460559129714966, 1.2427643537521362, 0.5628670454025269, -1.1064693927764893, 0.5073838233947754, -0.009506471455097198, -0.05428425595164299, 0.0702662244439125, -0.7176002860069275], "std": [0.03463268280029297, 0.07740943133831024, 0.0504208467900753, 0.10786885023117065, 0.150020033121109, 0.03326590731739998, 0.03289083018898964, 0.1442103385925293, 0.022794364020228386, 0.1440044343471527, 0.04151760786771774, 0.09834618866443634, 0.14512689411640167, 0.040789224207401276, 0.04685203731060028, 0.010475849732756615, 0.17249885201454163, 0.03181695193052292, 0.003905283287167549, 0.025293560698628426, 0.15312135219573975, 0.023613812401890755, 0.008414196781814098, 0.04709742218255997, 0.00912452768534422, 0.09124528616666794, 0.03264591470360756, 0.020656360313296318, 0.01777791418135166, 0.23782402276992798, 0.17060419917106628, 0.21269136667251587, 0.1608165204524994, 0.4589170217514038, 0.1947300285100937, 0.17111854255199432, 0.15286336839199066, 0.05739554762840271, 0.18178080022335052, 0.15468232333660126, 0.07162127643823624, 0.20229573547840118, 0.027317948639392853, 0.012941595166921616, 0.061453208327293396, 0.19261126220226288, 0.02187495119869709, 0.5215071439743042, 0.21228978037834167, 0.27869224548339844, 0.028261937201023102, 0.4132196009159088, 0.13513845205307007, 0.026431173086166382, 0.1851683109998703, 0.028363950550556183, 0.5033484101295471, 0.39925071597099304, 2.131030851160176e-05, 4.925997200189158e-05, 0.004410007037222385, 0.004219668917357922, 0.006796461530029774, 0.05978072062134743, 0.06113921105861664], "count": [2370]}, "observation.state.tcp_pose": {"min": [0.3471403419971466, 0.11936817318201065, 1.0356531143188477, -1.2089035511016846, 1.017116904258728, -1.5726380348205566, 0.25461068749427795, -0.32315793633461, 0.9756947755813599, -0.6861009001731873, 0.8885847330093384, 0.2164178490638733], "max": [0.4483560025691986, 0.23933658003807068, 1.143035888671875, -0.2931845784187317, 1.3845514059066772, -1.2288687229156494, 0.4362870752811432, -0.08406372368335724, 1.251318097114563, 1.208287239074707, 2.091099977493286, 1.4787572622299194], "mean": [0.4041297435760498, 0.13675713539123535, 1.0638172626495361, -0.45720091462135315, 1.2477378845214844, -1.3367130756378174, 0.37963780760765076, -0.1809789538383484, 1.1408159732818604, 0.17318350076675415, 1.4905494451522827, 0.7892453670501709], "std": [0.015663795173168182, 0.021761128678917885, 0.015740536153316498, 0.16908562183380127, 0.04495473578572273, 0.05273515358567238, 0.0474441833794117, 0.07520836591720581, 0.07680846750736237, 0.5800402164459229, 0.2642655670642853, 0.3969477415084839], "count": [2370]}, "action.tcp_pose": {"min": [0.3473825752735138, 0.11940367519855499, 1.0356311798095703, -1.208855390548706, 1.0128967761993408, -1.5727009773254395, 0.25498396158218384, -0.32719066739082336, 0.975714921951294, -0.6858494877815247, 0.8851136565208435, 0.21616308391094208], "max": [0.44832220673561096, 0.24084343016147614, 1.1427983045578003, -0.2941841185092926, 1.3845598697662354, -1.2289544343948364, 0.4381680190563202, -0.08424146473407745, 1.2526949644088745, 1.2082186937332153, 2.0910565853118896, 1.4947428703308105], "mean": [0.4041458070278168, 0.13675667345523834, 1.0638052225112915, -0.45715996623039246, 1.2477370500564575, -1.3367468118667603, 0.3795907497406006, -0.1811288297176361, 1.1407960653305054, 0.17371685802936554, 1.4906970262527466, 0.7888880372047424], "std": [0.015670977532863617, 0.02189992368221283, 0.015802497044205666, 0.16898980736732483, 0.04510284215211868, 0.0526563934981823, 0.04758026823401451, 0.07540860772132874, 0.07678157091140747, 0.5803371667861938, 0.2640785574913025, 0.3968863785266876], "count": [2370]}, "subtask_index": {"min": [0], "max": [21], "mean": [11.720253164556961], "std": [6.1646716301207585], "count": [2370]}, "observation.tactile": {"min": [-3.7479400634765625, -0.00927734375, -0.00115966796875, -0.08879947662353516, -0.0074024200439453125, -0.0924220085144043, -0.6213035583496094, -0.0018310546875, -0.00323486328125, -0.2035665512084961, -0.012583732604980469, -0.01413273811340332, -0.032855987548828125, -0.0054931640625, -0.00494384765625, -0.000614166259765625, -0.0008192062377929688, -0.00037932395935058594, -0.01108551025390625, -0.00885009765625, -0.00408935546875, -0.00037479400634765625, -0.00043010711669921875, -0.000370025634765625, -0.00213623046875, -0.00262451171875, -0.003173828125, -0.000156402587890625, -0.0009865760803222656, -0.0002961158752441406, -0.1643218994140625, -0.029632568359375, -0.0096435546875, -0.34380626678466797, -0.02375507354736328, -0.0074787139892578125, -4.590106964111328, -0.009490966796875, -0.001953125, -0.20018863677978516, -0.028256893157958984, -0.0934453010559082, -0.026424407958984375, -0.00872802734375, -0.00506591796875, -0.00037670135498046875, -0.0012273788452148438, -0.0005252361297607422, -0.009691238403320312, -0.01678466796875, -0.01055908203125, -0.007952690124511719, -0.004881858825683594, -0.0010042190551757812, -0.015516281127929688, -0.003997802734375, -0.0084228515625, -0.00016021728515625, -0.0012383460998535156, -0.0004253387451171875], "max": [1.4786224365234375, 2.17962646484375, 3.19696044921875, 0.0011425018310546875, 0.0036487579345703125, 0.0328526496887207, 6.005649566650391, 5.80950927734375, 13.56951904296875, 0.0013332366943359375, 0.005475044250488281, 0.10780787467956543, 0.00096893310546875, 0.0072784423828125, 0.003173828125, 0.0004863739013671875, 0.00010633468627929688, 0.0, 0.01279449462890625, 0.00439453125, 0.0072021484375, 0.0004558563232421875, 0.00026702880859375, 0.0, 0.01494598388671875, 0.006072998046875, 0.00469970703125, 0.0010356903076171875, 0.00011777877807617188, 3.62396240234375e-05, 7.1258392333984375, 16.813201904296875, 12.61077880859375, 0.0031633377075195312, 0.04115581512451172, 0.1427021026611328, 1.6188774108886719, 6.95751953125, 8.71533203125, 0.0017538070678710938, 0.005739688873291016, 0.0344233512878418, 0.056781768798828125, 0.002593994140625, 0.00726318359375, 0.0014934539794921875, 0.00015020370483398438, 0.0, 0.8948974609375, 0.056976318359375, 0.18072509765625, 0.0013427734375, 0.0034379959106445312, 0.007625579833984375, 0.009706497192382812, 0.027801513671875, 0.00732421875, 0.0010833740234375, 0.0002760887145996094, 8.20159912109375e-05], "mean": [-1.1970884799957275, 0.945320725440979, 0.8273184299468994, -0.017790379002690315, 0.00019381821039132774, -0.027782656252384186, 0.9749400615692139, 0.49349066615104675, 1.7168591022491455, -0.02659096196293831, -0.000738826987799257, 0.015197656117379665, -0.014652279205620289, -0.0022749952040612698, -0.0007321128505282104, -0.00022403539333026856, -0.000223900395212695, -0.00023197584960144013, 0.0031398418359458447, -0.0021699091885238886, 0.0014105044538155198, 1.2719681762973778e-05, -1.7486241631559096e-05, -0.0001381677866447717, 0.0032831619028002024, 0.0016458631725981832, 0.0008369542192667723, 0.0005131604848429561, -0.000464918848592788, -0.0001479291240684688, 1.6733589172363281, 2.1679928302764893, 2.6043202877044678, -0.06233423203229904, -0.00014512277266476303, 0.032204024493694305, -0.45432552695274353, 1.1502381563186646, 1.4278260469436646, -0.027435824275016785, -0.0024368579033762217, -0.008221940137445927, 0.014748331159353256, -0.0008485689177177846, 0.00034568560658954084, 0.0004575314815156162, -0.0005065245786681771, -0.00028290084446780384, 0.012876860797405243, 0.000807679258286953, 0.000955882656853646, 0.0005231422837823629, -0.0005769600975327194, -0.0002869463060051203, 0.0001861435448518023, -6.778250099159777e-05, 0.00080257368972525, 0.0002816341002471745, -0.00012113202683394775, -0.00012239479110576212], "std": [0.6816325783729553, 0.44486305117607117, 0.3750680685043335, 0.009592543356120586, 0.0014371253782883286, 0.01710919663310051, 0.9118838906288147, 0.6259989142417908, 1.5576515197753906, 0.023251591250300407, 0.0022732685320079327, 0.015417148359119892, 0.0051438407972455025, 0.0008304643561132252, 0.0011664241319522262, 0.0001182324776891619, 0.00010065831884276122, 5.7390712754568085e-05, 0.0025821710005402565, 0.0019490662962198257, 0.0015855183592066169, 0.0001264796155737713, 8.679452730575576e-05, 4.950640504830517e-05, 0.0016285715391859412, 0.0013342647580429912, 0.0011252088006585836, 0.00013434159336611629, 0.00012219909694977105, 4.4369011447997764e-05, 2.0116922855377197, 3.257084608078003, 3.4295032024383545, 0.08171389997005463, 0.006045238114893436, 0.039709895849227905, 1.0554040670394897, 1.6136807203292847, 1.937666416168213, 0.040071651339530945, 0.004647137597203255, 0.021320272237062454, 0.01362119521945715, 0.0013300483115017414, 0.0016885430086404085, 0.00042647714144550264, 0.00032538099912926555, 8.73923345352523e-05, 0.038147199898958206, 0.0029066598508507013, 0.008137490600347519, 0.00040132825961336493, 0.0003783259599003941, 0.00042702219798229635, 0.0033792047761380672, 0.0012876304099336267, 0.0017375003080815077, 0.0001673587685218081, 0.0001873242435976863, 7.18370865797624e-05], "count": [2370]}, "timestamp": {"min": [0.0], "max": [78.96666666666667], "mean": [39.48333333333334], "std": [22.805333602925888], "count": [2370]}, "frame_index": {"min": [0], "max": [2369], "mean": [1184.5], "std": [684.1600080877768], "count": [2370]}, "episode_index": {"min": [36], "max": [36], "mean": [36.0], "std": [0.0], "count": [2370]}, "index": {"min": [54524], "max": [56893], "mean": [55708.5], "std": [684.1600080877768], "count": [2370]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2370]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3400266766548157]], [[0.3392363488674164]], [[0.3391171991825104]]], "std": [[[0.21649609506130219]], [[0.21653926372528076]], [[0.21658653020858765]]], "count": [2370]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30578991770744324]], [[0.30677905678749084]], [[0.30435946583747864]]], "std": [[[0.17089416086673737]], [[0.17298811674118042]], [[0.17263002693653107]]], "count": [2370]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31069567799568176]], [[0.3099527657032013]], [[0.30798256397247314]]], "std": [[[0.17637264728546143]], [[0.17703670263290405]], [[0.17573224008083344]]], "count": [2370]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3366358280181885]], [[0.33585861325263977]], [[0.335959792137146]]], "std": [[[0.21698500216007233]], [[0.21703949570655823]], [[0.2171333134174347]]], "count": [2370]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.6745098233222961]], [[0.6745098233222961]], [[0.6745098233222961]]], "mean": [[[0.003645937191322446]], [[0.003645937191322446]], [[0.003645937191322446]]], "std": [[[0.03818569332361221]], [[0.03818569332361221]], [[0.03818569332361221]]], "count": [2370]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.95686274766922]], [[0.95686274766922]], [[0.95686274766922]]], "mean": [[[0.47447362542152405]], [[0.47447362542152405]], [[0.47447362542152405]]], "std": [[[0.15126951038837433]], [[0.15126951038837433]], [[0.15126951038837433]]], "count": [2370]}}}
+{"episode_index": 37, "stats": {"observation.state": {"min": [0.8669455051422119, -0.9052693843841553, -9.108010999625549e-06, 1.2745611667633057, -0.8734357953071594, -0.7700092196464539, 0.2527250051498413, 0.007670823484659195, -0.17799216508865356, -0.10664042830467224, -0.3173232078552246, 0.0023652887903153896, 0.003089487086981535, -0.000240408000536263, 0.003433586796745658, 0.0008478245581500232, 0.0032999664545059204, -0.0002747519756667316, 0.003507335903123021, 0.0008575798710808158, 0.003336027730256319, 7.212223135866225e-05, 0.0030123661272227764, 0.0008717693854123354, 0.0060474686324596405, 0.003276906907558441, -0.00045309547567740083, 0.006529629696160555, 0.0008518153917975724, 0.4522252678871155, -1.1861851215362549, 0.002319067483767867, 1.3258529901504517, -1.8286570310592651, -0.7675888538360596, -0.4690108895301819, 0.006338510662317276, -0.32093337178230286, -0.07420520484447479, -0.3007831871509552, 0.006899438798427582, 0.0031854049302637577, -0.0017184283351525664, 0.003511236049234867, 0.0008522588177584112, 0.0032675848342478275, 1.3001633305975702e-05, 0.003397776046767831, 0.0010180989047512412, 0.003286228980869055, -0.00016877622692845762, 0.0034871259704232216, 0.000866004906129092, 0.010045220144093037, 0.0032428083941340446, -0.00030762399546802044, 0.006756550166755915, 0.000826096860691905, 0.5624915957450867, -1.1069588661193848, 0.5271141529083252, -0.014764565043151379, -0.05944175645709038, -0.12952549755573273, -0.8168447613716125], "max": [1.0500329732894897, -0.552985429763794, 0.40689560770988464, 1.7464220523834229, 7.909588930488098e-06, -0.37998321652412415, 0.520013153553009, 1.3183434009552002, 0.0003315428621135652, 0.35055848956108093, -0.0024046713951975107, 1.0735671520233154, 1.2058892250061035, 0.2199219912290573, 0.47302836179733276, 0.0876576155424118, 1.2798569202423096, 0.19909603893756866, 0.1190994381904602, 0.10093946009874344, 1.1646654605865479, 0.1308204084634781, 0.5703079700469971, 0.3367778956890106, 0.061732348054647446, 0.6878126263618469, 0.17345945537090302, 0.44816890358924866, 0.387851357460022, 1.1756113767623901, -0.5133963227272034, 0.827025830745697, 1.9933621883392334, -0.003337247297167778, 0.20783282816410065, 0.5170448422431946, 1.3344639539718628, 0.0012249901192262769, 0.4828872084617615, 0.3147168457508087, 0.6266537308692932, 1.466269612312317, 0.10911524295806885, 0.10699360817670822, 0.5129138827323914, 1.466773271560669, 0.19133260846138, 1.6533851623535156, 1.1184836626052856, 1.4671039581298828, 0.22675324976444244, 1.6539287567138672, 0.9149507880210876, 0.1367894560098648, 1.4670097827911377, 0.16388238966464996, 1.6534146070480347, 1.3080989122390747, 0.5628750920295715, -1.106767177581787, 0.5660389065742493, 0.015052186325192451, 0.024447819218039513, 0.06059224158525467, -0.5996906161308289], "mean": [0.9916009306907654, -0.6449636816978455, 0.17764133214950562, 1.3727200031280518, -0.7542538046836853, -0.49317148327827454, 0.4040954113006592, 1.2706540822982788, -0.11822167783975601, 0.26048752665519714, -0.305807888507843, 0.8388555645942688, 1.1346603631973267, 0.2000725418329239, 0.137105792760849, 0.08423121273517609, 1.2012653350830078, 0.1731918752193451, 0.004840098787099123, 0.06643767654895782, 1.088505744934082, 0.07973656058311462, 0.021189097315073013, 0.3192434310913086, 0.057683683931827545, 0.6427467465400696, 0.08795740455389023, 0.3471258580684662, 0.2996009886264801, 0.92314612865448, -0.838487446308136, 0.3893260955810547, 1.60805344581604, -1.2682790756225586, -0.2195255011320114, -0.1890157163143158, 1.2586067914962769, -0.24547554552555084, 0.23489265143871307, -0.146262988448143, 0.5612471103668213, 1.2719374895095825, 0.06300460547208786, 0.09504065662622452, 0.4027535319328308, 1.355046033859253, 0.1458754986524582, 1.4571715593338013, 1.003661036491394, 1.2958904504776, 0.13975951075553894, 1.516048550605774, 0.7932398319244385, 0.10909096151590347, 1.4225271940231323, 0.09428946673870087, 1.4024953842163086, 1.111577033996582, 0.5626810193061829, -1.1068476438522339, 0.5524168610572815, 0.0022082235664129257, -0.003910002298653126, -0.034662406891584396, -0.7026954293251038], "std": [0.038426488637924194, 0.0784400925040245, 0.059202440083026886, 0.11762654036283493, 0.22202594578266144, 0.047590479254722595, 0.032399676740169525, 0.17573030292987823, 0.02022688090801239, 0.11443173140287399, 0.043256327509880066, 0.12068483978509903, 0.19680747389793396, 0.033372823148965836, 0.076960988342762, 0.012234542518854141, 0.2056807428598404, 0.026800798252224922, 0.010390834882855415, 0.011354044079780579, 0.20459508895874023, 0.016628874465823174, 0.08153273165225983, 0.04975736886262894, 0.010843330062925816, 0.10167662054300308, 0.020497113466262817, 0.05892673507332802, 0.051942579448223114, 0.22550229728221893, 0.15837445855140686, 0.17519135773181915, 0.17381241917610168, 0.41757825016975403, 0.23286816477775574, 0.18898890912532806, 0.17066779732704163, 0.05444546416401863, 0.19658735394477844, 0.1158696711063385, 0.08360814303159714, 0.21408262848854065, 0.027043674141168594, 0.014499085023999214, 0.08640830218791962, 0.22315068542957306, 0.027267232537269592, 0.4560045897960663, 0.19910308718681335, 0.31764253973960876, 0.02754770591855049, 0.34705033898353577, 0.15146516263484955, 0.025878455489873886, 0.17535735666751862, 0.026023438200354576, 0.5720297694206238, 0.4503871202468872, 4.9451118684373796e-05, 4.2414001654833555e-05, 0.008307507261633873, 0.005914453882724047, 0.017970280721783638, 0.043599098920822144, 0.07551908493041992], "count": [1472]}, "observation.state.joint_torque": {"min": [-37.201499938964844, -5.632500171661377, -20.76799964904785, -12.305999755859375, -0.18479999899864197, -0.8727999925613403, 0.7024000287055969, -0.8341605067253113, -0.835434079170227, -0.9171048998832703, -0.9034353494644165, -0.40178200602531433, -0.34924498200416565, -0.39433979988098145, -0.36857688426971436, -0.046377696096897125, -0.49604299664497375, -0.3770694434642792, -0.09297433495521545, -0.022118592634797096, -0.6284491419792175, -0.9134100079536438, -0.12617947161197662, -0.02996712550520897, -0.08576121926307678, -0.3223799765110016, -0.4048939049243927, -0.10459613054990768, -0.026399608701467514, 1.4474999904632568, -18.638999938964844, -4.849999904632568, -15.71500015258789, -1.9592000246047974, -5.527200222015381, -3.6415998935699463, -1.5167713165283203, -1.5256859064102173, -1.0438592433929443, -0.9369879961013794, -0.16104483604431152, -0.46246176958084106, -1.1705464124679565, -0.08467306196689606, -0.03068062849342823, -0.44423192739486694, -0.4336778223514557, -0.6574614644050598, -0.0321076326072216, -0.6207733750343323, -0.5267459154129028, -0.7670382857322693, -0.032821137458086014, -0.0725671797990799, -0.4806916117668152, -1.3250200748443604, -0.5860704183578491, -0.1084524542093277, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-20.92799949645996, 10.108499526977539, -10.354999542236328, -1.0529999732971191, 1.8767999410629272, 1.9639999866485596, 4.669600009918213, 0.8978369235992432, 0.46483755111694336, 1.2650580406188965, 0.889765739440918, 0.0879935771226883, 0.8923017382621765, 0.7973147630691528, 0.4681922197341919, 0.10916595906019211, 0.5363404750823975, 0.6687465906143188, 0.04648716747760773, 0.03139413148164749, 0.6831385493278503, 0.17654141783714294, 0.07637178897857666, 0.022118592634797096, 0.08796021342277527, 0.4307994544506073, 0.4432724714279175, 0.09629485011100769, 0.022832093760371208, 47.692501068115234, 18.795000076293945, 28.92799949645996, 2.950000047683716, 0.579200029373169, 2.9535999298095703, 1.2848000526428223, 1.9039236307144165, 3.9453885555267334, 1.9510225057601929, 1.5521191358566284, 0.49143579602241516, 2.138645887374878, 0.8021121025085449, 1.054262638092041, 0.17338122427463531, 0.6054219603538513, 0.40585339069366455, 0.1062563955783844, 0.022118592634797096, 0.5977461934089661, 1.2588170766830444, 0.08633331209421158, 0.020691584795713425, 0.49169760942459106, 0.435596764087677, 0.3319746255874634, 0.23409610986709595, 0.04209667816758156, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-28.9598445892334, 2.1521146297454834, -15.047532081604004, -6.137179374694824, 0.3216839134693146, 0.9139648675918579, 1.7755776643753052, -0.011669402942061424, -0.018926411867141724, 0.25679096579551697, 0.06823479384183884, -0.0026324985083192587, 0.21134687960147858, 0.1910793036222458, 0.12064040452241898, 0.04545234516263008, 0.008087667636573315, 0.08920665085315704, -0.0010647287126630545, 0.001561273355036974, 0.05948873609304428, -0.13508062064647675, -0.00033611131948418915, 0.00044690907816402614, -5.766512549598701e-05, 0.011033189482986927, -0.00669474434107542, -0.001893730484880507, -0.0007716689142398536, 25.01167869567871, 4.827004909515381, 14.51575756072998, -6.464794635772705, -0.7471442222595215, 1.154861330986023, -0.9506763219833374, 0.07885237783193588, 0.4884871244430542, 0.15185047686100006, 0.04100959375500679, 0.048179008066654205, 0.29201436042785645, -0.0905291736125946, 0.122271329164505, 0.030274933204054832, 0.007569448556751013, -0.01084154937416315, 0.0017301887273788452, 0.0022064330987632275, -0.012379160150885582, 0.15351545810699463, 0.0009474295075051486, 0.0012403926812112331, 0.2707382142543793, 0.0005768397240899503, -0.17704518139362335, 0.0019050086848437786, 0.000413463480072096, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.898976445198059, 1.5984861850738525, 0.8472570776939392, 1.075583815574646, 0.2621082663536072, 0.48116350173950195, 0.39113205671310425, 0.1269688457250595, 0.10626311600208282, 0.31350231170654297, 0.2004261612892151, 0.0314464271068573, 0.18056778609752655, 0.17489856481552124, 0.11283367872238159, 0.027095507830381393, 0.15268881618976593, 0.14543116092681885, 0.006666366942226887, 0.005520394071936607, 0.1625337451696396, 0.18440403044223785, 0.010934433899819851, 0.005961873102933168, 0.007973358035087585, 0.07490091025829315, 0.0658697783946991, 0.018537355586886406, 0.006903126835823059, 4.926565170288086, 3.2346184253692627, 2.5492258071899414, 2.3536341190338135, 0.2689754068851471, 0.8574240803718567, 0.7462853193283081, 0.44448673725128174, 0.9369910359382629, 0.355114221572876, 0.3070772886276245, 0.08765047788619995, 0.5379301309585571, 0.30445000529289246, 0.22273153066635132, 0.045909810811281204, 0.08841317147016525, 0.09051042050123215, 0.025587214156985283, 0.005972019862383604, 0.16145087778568268, 0.2704199254512787, 0.027105992659926414, 0.006943874526768923, 0.20208194851875305, 0.1248665302991867, 0.2689334750175476, 0.023937657475471497, 0.005727971438318491, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1472]}, "observation.state.tcp": {"min": [0.34591829776763916, 0.13103507459163666, 1.0425893068313599, -1.2088499069213867, 1.1105775833129883, -1.6411161422729492, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.26950153708457947, -0.3184601664543152, 1.004955768585205, -0.34434789419174194, 1.0561318397521973, 0.11696785688400269, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4403914213180542, 0.23386003077030182, 1.1450382471084595, -0.3149668872356415, 1.4653337001800537, -1.2289659976959229, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4547576606273651, -0.10026846826076508, 1.2452161312103271, 1.2083121538162231, 2.180798053741455, 1.5148985385894775, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.39840182662010193, 0.1501089185476303, 1.0756906270980835, -0.4792918860912323, 1.3270313739776611, -1.3359050750732422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3719334006309509, -0.21176649630069733, 1.1192189455032349, 0.2846558690071106, 1.626255989074707, 0.7750430107116699, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.01933768205344677, 0.021614065393805504, 0.01749817654490471, 0.2533096671104431, 0.05544836446642876, 0.08459553122520447, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05651326850056648, 0.06239890307188034, 0.0747591182589531, 0.4282853901386261, 0.2810589075088501, 0.3932691216468811, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1472]}, "action": {"min": [0.8668370246887207, -0.9054508209228516, -5.369993257377395e-18, 1.2744890451431274, -0.8734236359596252, -0.7699999809265137, 0.25252971053123474, 0.0, -0.17783504724502563, -0.11180693656206131, -0.3490658402442932, 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, 0.45139992237091064, -1.1869069337844849, 0.0009655762114562094, 1.325772762298584, -1.8286288976669312, -0.7691712975502014, -0.4692787230014801, 0.0, -0.3490658402442932, -0.08001840114593506, -0.30467623472213745, 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, 0.5626833438873291, -1.1069231033325195, 0.5255553722381592, -0.015757886692881584, -0.06243511661887169, -0.13008201122283936, -0.8173891305923462], "max": [1.0499999523162842, -0.5529414415359497, 0.40696173906326294, 1.746502161026001, 1.969049061057207e-18, -0.3797580897808075, 0.5199999809265137, 1.3244965076446533, 0.0, 0.35812801122665405, 0.0, 1.0796061754226685, 1.2112661600112915, 0.22397178411483765, 0.48040279746055603, 0.09088841080665588, 1.282220721244812, 0.20240014791488647, 0.12751547992229462, 0.10482838749885559, 1.1677583456039429, 0.13097423315048218, 0.576108455657959, 0.3385305106639862, 0.06984402984380722, 0.6984403133392334, 0.17536377906799316, 0.45850682258605957, 0.3924306333065033, 1.1756224632263184, -0.5133066177368164, 0.8280314803123474, 1.993798017501831, -0.0021279393695294857, 0.20818355679512024, 0.518494725227356, 1.339836597442627, 0.0, 0.4833360016345978, 0.3435264229774475, 0.6309454441070557, 1.5707963705062866, 0.10623901337385178, 0.11355767399072647, 0.5163379907608032, 1.5707963705062866, 0.19223779439926147, 1.7453292608261108, 1.1208605766296387, 1.5707963705062866, 0.22809451818466187, 1.7453292608261108, 0.9201006889343262, 0.1553155481815338, 1.5707963705062866, 0.16529697179794312, 1.7453292608261108, 1.3962633609771729, 0.5627784132957458, -1.1067684888839722, 0.5663975477218628, 0.015544298104941845, 0.024866078048944473, 0.06052868068218231, -0.6000000238418579], "mean": [0.991620659828186, -0.6450222730636597, 0.17770877480506897, 1.3727691173553467, -0.7540538907051086, -0.49313268065452576, 0.4041490852832794, 1.2683801651000977, -0.12080169469118118, 0.2660679519176483, -0.3392637073993683, 0.839975118637085, 1.1365940570831299, 0.20317338407039642, 0.14230582118034363, 0.08683916926383972, 1.2002103328704834, 0.1736604869365692, 0.001272756140679121, 0.06883742660284042, 1.0905970335006714, 0.07789671421051025, 0.01823127083480358, 0.3225367069244385, 0.06447319686412811, 0.6447329521179199, 0.08815069496631622, 0.35193899273872375, 0.301659494638443, 0.9240449070930481, -0.8387085199356079, 0.38883641362190247, 1.6081961393356323, -1.267685055732727, -0.21989743411540985, -0.18902264535427094, 1.2605594396591187, -0.24568600952625275, 0.23731735348701477, -0.14798420667648315, 0.5635942816734314, 1.2916359901428223, 0.06312675029039383, 0.09831033647060394, 0.40500470995903015, 1.427167534828186, 0.14666233956813812, 1.5300995111465454, 1.0036072731018066, 1.3666490316390991, 0.1399785429239273, 1.5952800512313843, 0.7941393852233887, 0.12534572184085846, 1.513279914855957, 0.09380006790161133, 1.4787551164627075, 1.1854369640350342, 0.5626834034919739, -1.1068506240844727, 0.5524683594703674, 0.0022248916793614626, -0.0039203776977956295, -0.03468838334083557, -0.702730119228363], "std": [0.038466040045022964, 0.07851754128932953, 0.05955756828188896, 0.11777467280626297, 0.2224024385213852, 0.04761446639895439, 0.032425493001937866, 0.19348496198654175, 0.02261359989643097, 0.11559302359819412, 0.05471695587038994, 0.13972978293895721, 0.20977072417736053, 0.03689924255013466, 0.08124858886003494, 0.014000309631228447, 0.2168014794588089, 0.02989366464316845, 0.011331512592732906, 0.012195447459816933, 0.2146863490343094, 0.018023550510406494, 0.08971771597862244, 0.05444803461432457, 0.011014086194336414, 0.1101408451795578, 0.02341165393590927, 0.06493915617465973, 0.05565773323178291, 0.22569285333156586, 0.15860801935195923, 0.17520232498645782, 0.17392192780971527, 0.4179266691207886, 0.23292255401611328, 0.1891002058982849, 0.19029459357261658, 0.06277833878993988, 0.19676008820533752, 0.11659403145313263, 0.09471908211708069, 0.24658171832561493, 0.026700258255004883, 0.016667958348989487, 0.09288559854030609, 0.27366140484809875, 0.02957974001765251, 0.485084593296051, 0.2093503475189209, 0.3652271330356598, 0.02940506860613823, 0.37629756331443787, 0.15958189964294434, 0.030653778463602066, 0.2214757353067398, 0.027129996567964554, 0.6043261885643005, 0.4818573594093323, 4.346063178672921e-06, 1.6508260159753263e-05, 0.008344242349267006, 0.005991315934807062, 0.01809370517730713, 0.043675497174263, 0.07561113685369492], "count": [1472]}, "observation.state.tcp_pose": {"min": [0.34591829776763916, 0.13103507459163666, 1.0425893068313599, -1.2088499069213867, 1.1105775833129883, -1.6411161422729492, 0.26950153708457947, -0.3184601664543152, 1.004955768585205, -0.34434789419174194, 1.0561318397521973, 0.11696785688400269], "max": [0.4403914213180542, 0.23386003077030182, 1.1450382471084595, -0.3149668872356415, 1.4653337001800537, -1.2289659976959229, 0.4547576606273651, -0.10026846826076508, 1.2452161312103271, 1.2083121538162231, 2.180798053741455, 1.5148985385894775], "mean": [0.39840182662010193, 0.1501089185476303, 1.0756906270980835, -0.4792918860912323, 1.3270313739776611, -1.3359050750732422, 0.3719334006309509, -0.21176649630069733, 1.1192189455032349, 0.2846558690071106, 1.626255989074707, 0.7750430107116699], "std": [0.01933768205344677, 0.021614065393805504, 0.01749817654490471, 0.2533096671104431, 0.05544836446642876, 0.08459553122520447, 0.05651326850056648, 0.06239890307188034, 0.0747591182589531, 0.4282853901386261, 0.2810589075088501, 0.3932691216468811], "count": [1472]}, "action.tcp_pose": {"min": [0.34605029225349426, 0.13118824362754822, 1.0424126386642456, -1.208855390548706, 1.1113240718841553, -1.6397244930267334, 0.27075105905532837, -0.3182812035083771, 1.0052862167358398, -0.34424257278442383, 1.0471397638320923, 0.11494582146406174], "max": [0.4408892095088959, 0.2344258725643158, 1.1460399627685547, -0.315992146730423, 1.4676508903503418, -1.2289544343948364, 0.4537241756916046, -0.10042154788970947, 1.2457630634307861, 1.2075151205062866, 2.1812267303466797, 1.5251953601837158], "mean": [0.398423969745636, 0.15013329684734344, 1.0757049322128296, -0.4794847369194031, 1.3269984722137451, -1.3359813690185547, 0.371918261051178, -0.2118004560470581, 1.1194766759872437, 0.2848743498325348, 1.625744342803955, 0.7750754952430725], "std": [0.019342418760061264, 0.021551990881562233, 0.017614910379052162, 0.25346311926841736, 0.05574573576450348, 0.08452937752008438, 0.05656249448657036, 0.06272095441818237, 0.07507134974002838, 0.42853304743766785, 0.2807956635951996, 0.3934005796909332], "count": [1472]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.496603260869565], "std": [6.7962377208140285], "count": [1472]}, "observation.tactile": {"min": [-8.069938659667969, -0.0028076171875, 0.0, -0.1787729263305664, -0.016878128051757812, -0.16115093231201172, -0.8106040954589844, -0.001373291015625, -0.00201416015625, -0.2600564956665039, -0.015694618225097656, -0.017914533615112305, -0.12514495849609375, -0.02752685546875, -0.0062255859375, -0.12256717681884766, -0.017714977264404297, -0.002378702163696289, -0.010356903076171875, -0.008087158203125, -0.0050048828125, -0.0004291534423828125, -0.0018825531005859375, -0.0009543895721435547, -0.0010242462158203125, -0.004119873046875, -0.00592041015625, -6.103515625e-05, -0.0013070106506347656, -0.0003695487976074219, -0.1048583984375, -0.005889892578125, 0.0, -0.38408565521240234, -0.026885509490966797, -0.021997690200805664, -5.985698699951172, -0.009307861328125, -0.00091552734375, -0.19667911529541016, -0.022606849670410156, -0.10031390190124512, -0.01834869384765625, -0.006622314453125, -0.005126953125, -0.0005159378051757812, -0.0010752677917480469, -0.0005092620849609375, -0.027679443359375, -0.013397216796875, -0.0106201171875, -0.014824867248535156, -0.0010271072387695312, -0.0009546279907226562, -0.026849746704101562, -0.003387451171875, -0.006591796875, -0.00038623809814453125, -0.0006365776062011719, -0.0003535747528076172], "max": [0.36145782470703125, 5.318145751953125, 7.72198486328125, 0.0007476806640625, 0.0025882720947265625, 0.008252143859863281, 6.052677154541016, 7.008880615234375, 16.57763671875, 0.0013599395751953125, 0.011618614196777344, 0.1024925708770752, 5.229469299316406, 4.2371826171875, 7.62762451171875, 0.0023679733276367188, 0.002033710479736328, 0.09635710716247559, 0.2760810852050781, 0.056121826171875, 0.049835205078125, 0.0009250640869140625, 0.0037479400634765625, 0.0034978389739990234, 0.03696250915527344, 0.01220703125, 0.002197265625, 0.001636505126953125, 9.441375732421875e-05, 9.918212890625e-05, 9.4539794921875, 18.4693603515625, 17.37615966796875, 0.0031938552856445312, 0.023972034454345703, 0.16980528831481934, 1.1334419250488281, 14.781158447265625, 12.2476806640625, 0.004565238952636719, 0.012022972106933594, 0.025021791458129883, 0.03736114501953125, 0.0094757080078125, 0.0172119140625, 0.0011749267578125, 0.00044798851013183594, 0.0, 1.418701171875, 0.168243408203125, 0.39105224609375, 0.001163482666015625, 0.0008711814880371094, 0.01570892333984375, 0.0065402984619140625, 0.010406494140625, 0.00897216796875, 0.00075531005859375, 0.00022411346435546875, 7.963180541992188e-05], "mean": [-3.1151061058044434, 2.5550918579101562, 2.2601656913757324, -0.04922541230916977, -0.0027195573784410954, -0.0698915645480156, 0.9332548379898071, 1.088832974433899, 3.962364435195923, -0.0654226616024971, 0.0011520704720169306, 0.015567328780889511, 0.125030979514122, 0.16119644045829773, 0.2219541221857071, -0.003413715399801731, -0.0007095445180311799, 0.0018018881091848016, 0.009767469950020313, -0.0038174442015588284, 0.0007942448719404638, 0.00027273400337435305, -0.00039432666380889714, -0.00024684963864274323, 0.009738690219819546, 0.0036546664778143167, -0.0019752252846956253, 0.0009986551012843847, -0.0008104476146399975, -0.0001866485399659723, 1.5682973861694336, 2.33298659324646, 2.8889877796173096, -0.06324799358844757, -0.0010175354545935988, 0.0276707224547863, -0.714320719242096, 1.3837320804595947, 1.6690269708633423, -0.030606435611844063, -0.0014093519421294332, -0.013078583404421806, 0.013551304116845131, -0.0015462066512554884, 0.00267725414596498, 0.0004420338664203882, -0.00040788899059407413, -0.0002994274254888296, 0.009022756479680538, 0.00102582189720124, 0.005499839782714844, 0.00014394587196875364, -0.00040279101813212037, -0.00033344895928166807, -0.005571624729782343, 0.002176958601921797, 0.002119022887200117, 9.58306627580896e-05, -2.8838929210905917e-05, -0.00010224366997135803], "std": [1.6095060110092163, 1.3308531045913696, 1.194911241531372, 0.027244525030255318, 0.002110556000843644, 0.03611466661095619, 0.7112019062042236, 0.7391284704208374, 2.276275396347046, 0.03495113179087639, 0.0023951707407832146, 0.012459455989301205, 0.47330203652381897, 0.41282594203948975, 0.6987481117248535, 0.011775062419474125, 0.0018389869946986437, 0.008249717764556408, 0.015703320503234863, 0.0033559584990143776, 0.0031293111387640238, 0.00019332622468937188, 0.00032771361293271184, 0.00021375651704147458, 0.004399929195642471, 0.0014984015142545104, 0.0010919620981439948, 0.00018762786930892617, 0.0001405080547556281, 6.618490442633629e-05, 2.2831947803497314, 3.5052242279052734, 4.2978644371032715, 0.09564068168401718, 0.004998984280973673, 0.04231060668826103, 1.443331003189087, 2.2754759788513184, 2.4945921897888184, 0.046073466539382935, 0.004871866665780544, 0.026297016069293022, 0.008336443454027176, 0.0013660540571436286, 0.0023582554422318935, 0.0003041753952857107, 0.00024192125420086086, 7.514913158956915e-05, 0.0371701605618, 0.0050637489184737206, 0.011249860748648643, 0.00045738351764157414, 0.00028227537404745817, 0.00043584287050180137, 0.006921872962266207, 0.0020101990085095167, 0.00209330627694726, 0.00012722125393338501, 8.11250793049112e-05, 7.344275218201801e-05], "count": [1472]}, "timestamp": {"min": [0.0], "max": [49.03333333333333], "mean": [24.516666666666666], "std": [14.16432333560469], "count": [1472]}, "frame_index": {"min": [0], "max": [1471], "mean": [735.5], "std": [424.9297000681407], "count": [1472]}, "episode_index": {"min": [37], "max": [37], "mean": [37.0], "std": [0.0], "count": [1472]}, "index": {"min": [56894], "max": [58365], "mean": [57629.5], "std": [424.9297000681407], "count": [1472]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1472]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3532561957836151]], [[0.35245218873023987]], [[0.35225722193717957]]], "std": [[[0.22659125924110413]], [[0.2265094816684723]], [[0.2263893485069275]]], "count": [1472]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30794602632522583]], [[0.3089183270931244]], [[0.30680978298187256]]], "std": [[[0.17313875257968903]], [[0.17515575885772705]], [[0.17455434799194336]]], "count": [1472]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.309170126914978]], [[0.30821147561073303]], [[0.3069402873516083]]], "std": [[[0.1740172654390335]], [[0.174783855676651]], [[0.17364242672920227]]], "count": [1472]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.352968692779541]], [[0.3521575927734375]], [[0.3521081209182739]]], "std": [[[0.22752107679843903]], [[0.2274729162454605]], [[0.2274288386106491]]], "count": [1472]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7803921699523926]], [[0.7803921699523926]], [[0.7803921699523926]]], "mean": [[[0.006681808736175299]], [[0.006681808736175299]], [[0.006681808736175299]]], "std": [[[0.055360522121191025]], [[0.055360522121191025]], [[0.055360522121191025]]], "count": [1472]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.9529411792755127]], [[0.9529411792755127]], [[0.9529411792755127]]], "mean": [[[0.4739835560321808]], [[0.4739835560321808]], [[0.4739835560321808]]], "std": [[[0.15234173834323883]], [[0.15234173834323883]], [[0.15234173834323883]]], "count": [1472]}}}
+{"episode_index": 38, "stats": {"observation.state": {"min": [0.8749827742576599, -0.8641042113304138, 5.992112619424006e-07, 1.1944442987442017, -0.9021026492118835, -0.7699999213218689, 0.26022952795028687, 0.007490688003599644, -0.20423460006713867, -0.22531954944133759, -0.3157665431499481, 0.002708860207349062, 0.003219994017854333, -0.00011333521251799539, 0.003383238799870014, 0.0008513719658367336, 0.0038511876482516527, -0.0006584233487956226, 0.0036711441352963448, 0.000870439107529819, 0.003309043124318123, 0.00010450381523696706, 0.0030293851159512997, 0.0008646746282465756, 0.00594043405726552, 0.003236429998651147, 4.979868026566692e-05, 0.006533175241202116, 0.0008451640023849905, 0.25543203949928284, -1.1137784719467163, 0.00010558102803770453, 1.2257493734359741, -1.8135721683502197, -0.7699094414710999, -0.47861531376838684, 0.0105900214985013, -0.3207707405090332, -0.15460695326328278, -0.2630103528499603, 0.006909011863172054, 0.009626373648643494, 0.00013173482147976756, 0.003489607712253928, 0.0020703414920717478, 0.012969025410711765, 0.0015371381305158138, 0.003398130415007472, 0.005483811255544424, 0.01078253984451294, -0.00017736262816470116, 0.0037516297306865454, 0.005430156830698252, 0.012355031445622444, 0.013598010875284672, 0.000524727045558393, 0.006783496588468552, 0.0008540325216017663, 0.5624915957450867, -1.1069588661193848, 0.5222246050834656, -0.01696966215968132, -0.03278883919119835, -0.20200610160827637, -0.8250899314880371], "max": [1.0947775840759277, -0.5177192091941833, 0.3533409535884857, 1.6997023820877075, 1.1984224101979635e-07, -0.3436698317527771, 0.5250714421272278, 1.3093360662460327, -0.00018103857291862369, 0.3342881202697754, -0.0024491811636835337, 0.9458542466163635, 1.1952742338180542, 0.2337120622396469, 0.1926262080669403, 0.08908631652593613, 1.2725069522857666, 0.20823252201080322, 0.003721491899341345, 0.05925992131233215, 1.1632288694381714, 0.1625937521457672, 0.030376819893717766, 0.3229927718639374, 0.06031092628836632, 0.6878541111946106, 0.23168843984603882, 0.23320521414279938, 0.20276221632957458, 1.289445161819458, -0.43690767884254456, 0.8934615850448608, 1.998487114906311, -0.00023285349016077816, 0.19667227566242218, 0.5198352932929993, 1.3381305932998657, -0.0016204919666051865, 0.5418209433555603, 0.3130074739456177, 0.6189798712730408, 1.4667048454284668, 0.11798512935638428, 0.10640715062618256, 0.47559458017349243, 1.4666953086853027, 0.2110319882631302, 1.6533440351486206, 1.0307191610336304, 1.4668089151382446, 0.2244688868522644, 1.6537163257598877, 0.8734388947486877, 0.1310170590877533, 1.4669923782348633, 0.18995875120162964, 1.6534309387207031, 1.3081077337265015, 0.5629709362983704, -1.1065753698349, 0.5731335878372192, 0.011217234656214714, 0.019941750913858414, 0.030008498579263687, -0.5309491157531738], "mean": [1.0027661323547363, -0.61977219581604, 0.1620466113090515, 1.3218932151794434, -0.7415809035301208, -0.5111868977546692, 0.4333076477050781, 1.2502057552337646, -0.15279023349285126, 0.2707049250602722, -0.307834655046463, 0.8518001437187195, 1.147534728050232, 0.19785046577453613, 0.12485646456480026, 0.08491171896457672, 1.209969162940979, 0.17379328608512878, 0.003696814877912402, 0.055065758526325226, 1.1035324335098267, 0.07908973097801208, 0.0033608421217650175, 0.313579261302948, 0.057012539356946945, 0.6481773257255554, 0.06163119152188301, 0.19838762283325195, 0.16886097192764282, 0.9086694717407227, -0.7835321426391602, 0.42818304896354675, 1.5223113298416138, -1.2136220932006836, -0.2657659947872162, -0.16442352533340454, 1.2564653158187866, -0.2576163411140442, 0.22617289423942566, -0.0844254270195961, 0.5647096633911133, 1.2659879922866821, 0.06575573980808258, 0.09578452259302139, 0.400362104177475, 1.425734519958496, 0.153336301445961, 1.4227300882339478, 0.9683796763420105, 1.3775038719177246, 0.14880633354187012, 1.4360941648483276, 0.8164842128753662, 0.10569356381893158, 1.4423261880874634, 0.11148703098297119, 1.4169394969940186, 1.1227116584777832, 0.5626845955848694, -1.1067798137664795, 0.5454347133636475, -0.003549266140908003, 0.0032929377630352974, -0.060002412647008896, -0.6718812584877014], "std": [0.036763809621334076, 0.07814954966306686, 0.05164439603686333, 0.1279773712158203, 0.20410732924938202, 0.054542724043130875, 0.03319285064935684, 0.15468460321426392, 0.019949888810515404, 0.11629760265350342, 0.03729444742202759, 0.10515519976615906, 0.1589042693376541, 0.03968220204114914, 0.04518379271030426, 0.01071814727038145, 0.1897575855255127, 0.026610497385263443, 7.673473191971425e-06, 0.011639971286058426, 0.17517992854118347, 0.0185872670263052, 0.0015018419362604618, 0.040883976966142654, 0.009481968358159065, 0.09820416569709778, 0.025989098474383354, 0.03595029190182686, 0.031219929456710815, 0.25608664751052856, 0.17621926963329315, 0.20336049795150757, 0.183177188038826, 0.41200995445251465, 0.22960418462753296, 0.19644927978515625, 0.14846237003803253, 0.05705232173204422, 0.2172054499387741, 0.1401352435350418, 0.07091578841209412, 0.19912074506282806, 0.025702619925141335, 0.013004651293158531, 0.07837346941232681, 0.16079428791999817, 0.023532116785645485, 0.5430923104286194, 0.15861575305461884, 0.2102014571428299, 0.02472015470266342, 0.524257481098175, 0.12213045358657837, 0.022688178345561028, 0.14068876206874847, 0.025925325229763985, 0.5586774349212646, 0.4395905137062073, 5.3678315452998504e-05, 3.958957313443534e-05, 0.016410844400525093, 0.007939506322145462, 0.01221171859651804, 0.05518851801753044, 0.07636725902557373], "count": [1584]}, "observation.state.joint_torque": {"min": [-36.492000579833984, -4.386000156402588, -19.29800033569336, -9.637999534606934, -0.25999999046325684, -0.925599992275238, 0.9383999705314636, -1.05575430393219, -0.5718138813972473, -0.7654967308044434, -0.9444440603256226, -0.4001217484474182, -0.4624617397785187, -0.506597101688385, -0.24405762553215027, -0.045664187520742416, -0.5411378145217896, -0.37323158979415894, -0.0016602561809122562, -0.020691584795713425, -0.5430567264556885, -0.8318554759025574, -0.09629485011100769, -0.027826614677906036, -0.08752042055130005, -0.39913710951805115, -0.6274896264076233, -0.12119869887828827, -0.032821137458086014, 9.340499877929688, -13.564499855041504, 1.5499999523162842, -14.659000396728516, -1.7824000120162964, -2.5759999752044678, -2.8624000549316406, -1.4008803367614746, -0.9551456570625305, -0.6374998092651367, -0.8015348315238953, -0.11621791869401932, -0.542097270488739, -1.3509256839752197, -0.09961536526679993, -0.03496164828538895, -0.4269615709781647, -0.40585339069366455, -0.32374992966651917, -0.019978083670139313, -0.5996651649475098, -0.5728001594543457, -0.5163396596908569, -0.02354559674859047, -0.039142295718193054, -0.4835699796676636, -1.077478289604187, -0.28722429275512695, -0.04994520545005798, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-23.26650047302246, 13.558500289916992, -11.732999801635742, -0.14000000059604645, 1.8007999658584595, 1.806399941444397, 2.951200008392334, 1.0455660820007324, 0.7781252861022949, 1.0438592433929443, 1.0040931701660156, 0.12783971428871155, 0.5142728090286255, 0.4720563590526581, 0.1859486699104309, 0.05636673793196678, 0.6543546915054321, 0.922045111656189, 0.0016602561809122562, 0.016410568729043007, 0.5574487447738647, 0.1986090987920761, 0.04482691362500191, 0.02425910159945488, 0.08268260210752487, 0.36075854301452637, 0.39146140217781067, 0.10791664570569992, 0.021405089646577835, 52.7130012512207, 29.858999252319336, 31.476999282836914, 6.040999889373779, -0.19120000302791595, 3.24399995803833, 1.2239999771118164, 1.59700345993042, 3.503473997116089, 1.4502187967300415, 1.2787275314331055, 0.37521788477897644, 1.7347112894058228, 0.5545703768730164, 0.8566921949386597, 0.15697064995765686, 0.3914613723754883, 0.44135355949401855, 0.6574614644050598, 0.022832093760371208, 0.5852732062339783, 0.8759908080101013, 0.16934612393379211, 0.02497260272502899, 0.4908180236816406, 0.3789883852005005, 0.39146140217781067, 0.4001217484474182, 0.07420431077480316, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.456125259399414, 1.717664122581482, -14.76535701751709, -5.799259662628174, 0.21012984216213226, 0.8796625137329102, 1.7485631704330444, -0.05138571932911873, 0.021440129727125168, 0.06424415856599808, 0.01146114245057106, 0.012045243754982948, 0.06054701283574104, 0.05757025629281998, 0.009236215613782406, 0.01122954674065113, -0.013535413891077042, 0.15473291277885437, -1.048141484716325e-06, 0.0005797225167043507, 0.011789758689701557, -0.05487613379955292, -0.000612113974057138, 0.0012085442431271076, -0.0002024080604314804, 0.002851101802662015, 0.017295164987444878, -0.00023268671066034585, 0.00033918293775059283, 26.440427780151367, 4.801421165466309, 14.535111427307129, -6.724954128265381, -0.7279321551322937, 1.169262170791626, -1.06413733959198, 0.027724912390112877, 0.2713223993778229, 0.14960837364196777, 0.024313269183039665, 0.03679914399981499, 0.18885940313339233, -0.12114450335502625, 0.07764735072851181, 0.0203488040715456, 0.013631721027195454, 0.00874843169003725, 0.002276563784107566, 0.00019774495740421116, 0.013527607545256615, 0.1172102615237236, 0.0011319923214614391, 0.0011707055382430553, 0.133448988199234, 0.0033478240948170424, -0.08283920586109161, 0.00232897256501019, 0.0003734181809704751, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.8900494575500488, 1.6393007040023804, 0.7519715428352356, 0.8932421207427979, 0.2881771922111511, 0.4583090841770172, 0.31264474987983704, 0.18041254580020905, 0.1302451640367508, 0.20741675794124603, 0.13958533108234406, 0.03397756069898605, 0.10642741620540619, 0.11388885229825974, 0.04803415387868881, 0.01098603568971157, 0.17484448850154877, 0.17320185899734497, 7.224519504234195e-05, 0.005408765748143196, 0.11575007438659668, 0.1258573681116104, 0.004564650822430849, 0.006308685056865215, 0.007368534337729216, 0.07931483536958694, 0.08280431479215622, 0.018823834136128426, 0.006918541621416807, 4.701234340667725, 3.402438163757324, 1.9867717027664185, 2.564453601837158, 0.21856282651424408, 0.6646828651428223, 0.7151342630386353, 0.40929538011550903, 0.5646539330482483, 0.28856146335601807, 0.34010887145996094, 0.06310815364122391, 0.3841710090637207, 0.27352356910705566, 0.139287531375885, 0.031272534281015396, 0.06360522657632828, 0.0813593789935112, 0.02638144977390766, 0.006074442993849516, 0.1494607925415039, 0.19695518910884857, 0.017249533906579018, 0.0072865416295826435, 0.11306416243314743, 0.07449842244386673, 0.1961289495229721, 0.023495759814977646, 0.004880208056420088, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1584]}, "observation.state.tcp": {"min": [0.34424135088920593, 0.13280265033245087, 1.0434125661849976, -1.208906888961792, 1.142555832862854, -1.6059374809265137, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.26839667558670044, -0.3162187933921814, 1.0002055168151855, -0.31911227107048035, 1.0413626432418823, 0.07681255787611008, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.44421887397766113, 0.23300701379776, 1.1586112976074219, -0.28780224919319153, 1.511742353439331, -1.2286664247512817, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4659498929977417, -0.09679996222257614, 1.2433838844299316, 1.2087119817733765, 2.1319518089294434, 1.4315696954727173, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4029976427555084, 0.15532997250556946, 1.0748885869979858, -0.4799306392669678, 1.2896206378936768, -1.318150520324707, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3881870210170746, -0.21378740668296814, 1.120354413986206, 0.388700395822525, 1.5628629922866821, 0.8010222315788269, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.020386742427945137, 0.018113499507308006, 0.020310280844569206, 0.22741954028606415, 0.060993943363428116, 0.10079969465732574, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.056522756814956665, 0.06799045950174332, 0.07226744294166565, 0.42235952615737915, 0.29819154739379883, 0.41008952260017395, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1584]}, "action": {"min": [0.8749576807022095, -0.8642579913139343, 2.173539482213738e-17, 1.1944284439086914, -0.9020903706550598, -0.7699999809265137, 0.26024380326271057, 0.0, -0.204775869846344, -0.2300289422273636, -0.3490658402442932, 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, 0.25488439202308655, -1.1138883829116821, 0.00046104990178719163, 1.2257988452911377, -1.8135764598846436, -0.7695393562316895, -0.4786783754825592, 0.0, -0.3490658402442932, -0.16055239737033844, -0.26671022176742554, 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, 0.5626833438873291, -1.1069231033325195, 0.5217751860618591, -0.017967363819479942, -0.03417837247252464, -0.20273782312870026, -0.8252397775650024], "max": [1.0959022045135498, -0.5176880955696106, 0.3533962368965149, 1.699772596359253, -1.6380621274440655e-17, -0.3439083993434906, 0.5255268216133118, 1.319223403930664, 0.0, 0.34125426411628723, 0.0, 0.9498889446258545, 1.1992263793945312, 0.23423045873641968, 0.19822661578655243, 0.09065824002027512, 1.2800766229629517, 0.20872825384140015, 0.0, 0.06338205188512802, 1.1693426370620728, 0.1645299792289734, 0.034333907067775726, 0.327457070350647, 0.06944139301776886, 0.6944139003753662, 0.23039531707763672, 0.2390516996383667, 0.20467127859592438, 1.2895127534866333, -0.4369131624698639, 0.8939889073371887, 1.9987404346466064, -0.0009319455712102354, 0.19696614146232605, 0.5191507935523987, 1.3399324417114258, 0.0, 0.5420108437538147, 0.3490658402442932, 0.6250970363616943, 1.5410314798355103, 0.11889427155256271, 0.11076848953962326, 0.4792923033237457, 1.5707963705062866, 0.22425931692123413, 1.7453292608261108, 1.0337114334106445, 1.5707963705062866, 0.2339426875114441, 1.7453292608261108, 0.8752319812774658, 0.14172063767910004, 1.5707963705062866, 0.20941239595413208, 1.7453292608261108, 1.3962633609771729, 0.5627791881561279, -1.106767177581787, 0.5734620094299316, 0.011700676754117012, 0.02024182304739952, 0.029954655095934868, -0.5260236263275146], "mean": [1.0027868747711182, -0.6199076175689697, 0.1619778424501419, 1.322035312652588, -0.7414901256561279, -0.5112026333808899, 0.4332706928253174, 1.2461888790130615, -0.1516539305448532, 0.2762031853199005, -0.33322852849960327, 0.8568025827407837, 1.1519147157669067, 0.2019384354352951, 0.12545348703861237, 0.0875805914402008, 1.213171124458313, 0.17802369594573975, 0.0, 0.057594429701566696, 1.105414628982544, 0.08200575411319733, 0.00012304286065045744, 0.31621232628822327, 0.06510951370000839, 0.6510946750640869, 0.06516307592391968, 0.19990232586860657, 0.17134541273117065, 0.9089416265487671, -0.7838296890258789, 0.427810937166214, 1.522182583808899, -1.2129803895950317, -0.2663072645664215, -0.16448520123958588, 1.257395625114441, -0.26211827993392944, 0.2283625602722168, -0.08398657292127609, 0.5673461556434631, 1.2777096033096313, 0.06628019362688065, 0.09874162077903748, 0.4028114974498749, 1.5065501928329468, 0.1548454910516739, 1.4946650266647339, 0.9698094725608826, 1.4435652494430542, 0.14955967664718628, 1.51170814037323, 0.8182080388069153, 0.12116280943155289, 1.5372036695480347, 0.11195307224988937, 1.4924498796463013, 1.196000576019287, 0.5627859830856323, -1.1067843437194824, 0.5454806089401245, -0.0035655477549880743, 0.003299795323982835, -0.060029275715351105, -0.6719265580177307], "std": [0.03679218143224716, 0.07833176851272583, 0.05164269357919693, 0.12818968296051025, 0.20430254936218262, 0.05465312302112579, 0.033227406442165375, 0.16848473250865936, 0.02247646637260914, 0.11638839542865753, 0.04669532924890518, 0.12097032368183136, 0.17034320533275604, 0.04124458506703377, 0.04580890014767647, 0.012215165421366692, 0.19697384536266327, 0.02972850576043129, 0.0, 0.01189063023775816, 0.18090808391571045, 0.020300352945923805, 0.0017225673655048013, 0.04486048221588135, 0.010239596478641033, 0.10239597409963608, 0.027290217578411102, 0.036440327763557434, 0.031239740550518036, 0.25748109817504883, 0.1764759123325348, 0.2034747451543808, 0.18319521844387054, 0.41215699911117554, 0.2297387719154358, 0.1962878257036209, 0.16483134031295776, 0.06800156086683273, 0.21789394319057465, 0.14441826939582825, 0.08160589635372162, 0.2182137370109558, 0.026599669829010963, 0.014637063257396221, 0.08388582617044449, 0.19954028725624084, 0.027667218819260597, 0.5763182640075684, 0.1674741506576538, 0.2493157982826233, 0.02767627127468586, 0.5616452097892761, 0.1298687607049942, 0.0244382806122303, 0.17773936688899994, 0.027887985110282898, 0.5940041542053223, 0.4737752377986908, 1.619759132154286e-05, 2.3072294425219297e-05, 0.016428615897893906, 0.007994173094630241, 0.012284432537853718, 0.05524946749210358, 0.07643204927444458], "count": [1584]}, "observation.state.tcp_pose": {"min": [0.34424135088920593, 0.13280265033245087, 1.0434125661849976, -1.208906888961792, 1.142555832862854, -1.6059374809265137, 0.26839667558670044, -0.3162187933921814, 1.0002055168151855, -0.31911227107048035, 1.0413626432418823, 0.07681255787611008], "max": [0.44421887397766113, 0.23300701379776, 1.1586112976074219, -0.28780224919319153, 1.511742353439331, -1.2286664247512817, 0.4659498929977417, -0.09679996222257614, 1.2433838844299316, 1.2087119817733765, 2.1319518089294434, 1.4315696954727173], "mean": [0.4029976427555084, 0.15532997250556946, 1.0748885869979858, -0.4799306392669678, 1.2896206378936768, -1.318150520324707, 0.3881870210170746, -0.21378740668296814, 1.120354413986206, 0.388700395822525, 1.5628629922866821, 0.8010222315788269], "std": [0.020386742427945137, 0.018113499507308006, 0.020310280844569206, 0.22741954028606415, 0.060993943363428116, 0.10079969465732574, 0.056522756814956665, 0.06799045950174332, 0.07226744294166565, 0.42235952615737915, 0.29819154739379883, 0.41008952260017395], "count": [1584]}, "action.tcp_pose": {"min": [0.34417498111724854, 0.13256341218948364, 1.0433290004730225, -1.2089495658874512, 1.1399036645889282, -1.6060259342193604, 0.2686205506324768, -0.3178955316543579, 1.0001792907714844, -0.3198969066143036, 1.0427292585372925, 0.07620052248239517], "max": [0.44408363103866577, 0.2335621565580368, 1.1582159996032715, -0.28758570551872253, 1.5135667324066162, -1.2289544343948364, 0.4662553071975708, -0.09675263613462448, 1.2433327436447144, 1.216598629951477, 2.132136106491089, 1.430914282798767], "mean": [0.40305837988853455, 0.15536457300186157, 1.0748199224472046, -0.48013556003570557, 1.2897921800613403, -1.318049430847168, 0.38826003670692444, -0.2139321118593216, 1.1203711032867432, 0.38936179876327515, 1.5627453327178955, 0.8006379008293152], "std": [0.02038472145795822, 0.018116677179932594, 0.020345957949757576, 0.22778652608394623, 0.06101634353399277, 0.10076702386140823, 0.05673123896121979, 0.06823957711458206, 0.07249902933835983, 0.4227338433265686, 0.298132061958313, 0.41021230816841125], "count": [1584]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.642045454545455], "std": [6.7749743641062965], "count": [1584]}, "observation.tactile": {"min": [-4.140117645263672, -0.0069580078125, 0.0, -0.052547454833984375, -0.008864879608154297, -0.0978693962097168, -1.4659080505371094, -0.002960205078125, -0.00762939453125, -0.10797595977783203, -0.014628410339355469, -0.031900644302368164, -0.03594017028808594, -0.005340576171875, -0.00140380859375, -0.0001125335693359375, -0.0010600090026855469, -0.0003132820129394531, -0.023906707763671875, -0.00482177734375, -0.0068359375, -0.0002574920654296875, -0.00087738037109375, -0.0003845691680908203, -0.0013427734375, -0.0039825439453125, -0.00439453125, -5.340576171875e-05, -0.0013380050659179688, -0.0003134012222290039, -2.0009536743164062, -0.01416015625, -6.103515625e-05, -0.23907184600830078, -0.02647256851196289, -0.041674137115478516, -5.361133575439453, -0.00775146484375, -0.00213623046875, -0.1006631851196289, -0.015297889709472656, -0.11031532287597656, -0.016704559326171875, -0.00537109375, -0.00543212890625, -0.0001506805419921875, -0.001689910888671875, -0.0006539821624755859, -0.006801605224609375, -0.012969970703125, -0.0093994140625, -0.008961677551269531, -0.0013723373413085938, -0.0006399154663085938, -0.024950027465820312, -0.004791259765625, -0.00390625, -0.0003204345703125, -0.001583099365234375, -0.00037217140197753906], "max": [1.0561714172363281, 2.57586669921875, 2.2080078125, 0.0006837844848632812, 0.004089832305908203, 0.026184558868408203, 4.154209136962891, 2.3798828125, 6.409423828125, 0.00156402587890625, 0.015316963195800781, 0.07173705101013184, 0.0, 0.013336181640625, 0.0072021484375, 0.0008106231689453125, 3.9577484130859375e-05, 9.632110595703125e-05, 0.012134552001953125, 0.006805419921875, 0.004150390625, 0.000789642333984375, 9.5367431640625e-05, 0.0, 0.01747894287109375, 0.0107879638671875, 0.0030517578125, 0.0013427734375, 7.343292236328125e-05, 1.52587890625e-05, 6.723655700683594, 10.258514404296875, 11.05572509765625, 0.0009899139404296875, 0.03492879867553711, 0.12415838241577148, 0.07062911987304688, 5.215850830078125, 5.50830078125, 0.004382133483886719, 0.0034208297729492188, 0.00010728836059570312, 0.027866363525390625, 0.0133819580078125, 0.0228271484375, 0.0017194747924804688, 0.0002818107604980469, 0.0, 0.1709747314453125, 0.115081787109375, 0.30364990234375, 0.00135040283203125, 0.0034427642822265625, 0.002349376678466797, 0.011381149291992188, 0.038818359375, 0.02044677734375, 0.0009002685546875, 0.00025081634521484375, 0.00013828277587890625], "mean": [-1.1575268507003784, 0.8390665650367737, 0.7734695076942444, -0.016040533781051636, 0.0013812941033393145, -0.02687123417854309, 0.42127683758735657, 0.3692535161972046, 1.3282703161239624, -0.02238851599395275, 0.0009917928837239742, 0.005733641795814037, -0.023941058665513992, -0.0005345007521100342, 0.003427640302106738, 0.00044664469896815717, -0.0006971687544137239, -0.0001858606847235933, 0.0019520750502124429, 0.0006063923938199878, -0.0015255321050062776, 0.00017034767370205373, -0.00019828206859529018, -0.00013946305261924863, 0.0024441818241029978, 0.0009869951754808426, -0.00040651572635397315, 0.00042433448834344745, -0.0003372716892044991, -0.00013495711027644575, 0.25501441955566406, 1.6584227085113525, 2.0571460723876953, -0.043118249624967575, -0.0008695769938640296, 0.003376808948814869, -0.9704307913780212, 0.8410489559173584, 1.0927473306655884, -0.02098856307566166, -0.001337100169621408, -0.01969759725034237, 0.0060225315392017365, 0.003153858706355095, 9.740964014781639e-05, 0.0009899644646793604, -0.001004713703878224, -0.00038652075454592705, 0.010914362035691738, 0.0024173620622605085, 0.0020925540011376143, 0.00038695576949976385, -0.0005264637293294072, -0.00023162334400694817, -0.003033362329006195, -0.0011455266503617167, 0.001668525510467589, 5.040265023126267e-05, 1.587048927831347e-06, -0.0001280150463571772], "std": [0.6154479384422302, 0.4005897641181946, 0.35153061151504517, 0.008012980222702026, 0.0018425482558086514, 0.014978716149926186, 0.4365570843219757, 0.2254513055086136, 0.6708261966705322, 0.0115297706797719, 0.002304291119799018, 0.007691734004765749, 0.005898680537939072, 0.0018362506525591016, 0.0011925678700208664, 0.00013785948976874352, 0.00018534786067903042, 5.079718539491296e-05, 0.003698972752317786, 0.0016953895101323724, 0.0016098845517262816, 0.00013728407793678343, 0.0001329572405666113, 6.134252907941118e-05, 0.0018778363009914756, 0.0013817937579005957, 0.0010876916348934174, 0.0001618977403268218, 0.0001527038839412853, 5.270815745461732e-05, 1.3811556100845337, 2.235520124435425, 2.6217589378356934, 0.056238897144794464, 0.004671384114772081, 0.025947116315364838, 1.2663096189498901, 1.2268435955047607, 1.4284062385559082, 0.028257953003048897, 0.003038907190784812, 0.02573469839990139, 0.008047121576964855, 0.0012865649769082665, 0.0018230570713058114, 0.0003283170226495713, 0.00030415100627578795, 0.00011318908946122974, 0.010367237962782383, 0.00596021069213748, 0.013943130150437355, 0.00044062381493858993, 0.0003050409140996635, 0.00018991032266058028, 0.0058454289101064205, 0.001523976563476026, 0.00188758026342839, 0.00012073198740836233, 9.877510456135496e-05, 5.404321200330742e-05], "count": [1584]}, "timestamp": {"min": [0.0], "max": [52.766666666666666], "mean": [26.383333333333333], "std": [15.2420440691991], "count": [1584]}, "frame_index": {"min": [0], "max": [1583], "mean": [791.5], "std": [457.26132207597294], "count": [1584]}, "episode_index": {"min": [38], "max": [38], "mean": [38.0], "std": [0.0], "count": [1584]}, "index": {"min": [58366], "max": [59949], "mean": [59157.5], "std": [457.26132207597294], "count": [1584]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1584]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3450878858566284]], [[0.34428340196609497]], [[0.3440161645412445]]], "std": [[[0.2189747542142868]], [[0.2189093977212906]], [[0.21874502301216125]]], "count": [1584]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30758675932884216]], [[0.3091190457344055]], [[0.30737221240997314]]], "std": [[[0.1730785220861435]], [[0.17528791725635529]], [[0.17476032674312592]]], "count": [1584]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30849704146385193]], [[0.3075838088989258]], [[0.3057790994644165]]], "std": [[[0.17334496974945068]], [[0.1740342527627945]], [[0.17244409024715424]]], "count": [1584]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3435061573982239]], [[0.3426821231842041]], [[0.3425602316856384]]], "std": [[[0.21938692033290863]], [[0.219341441988945]], [[0.21924111247062683]]], "count": [1584]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7098039388656616]], [[0.7098039388656616]], [[0.7098039388656616]]], "mean": [[[0.0035194293595850468]], [[0.0035194293595850468]], [[0.0035194293595850468]]], "std": [[[0.03748152777552605]], [[0.03748152777552605]], [[0.03748152777552605]]], "count": [1584]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.9529411792755127]], [[0.9529411792755127]], [[0.9529411792755127]]], "mean": [[[0.4744810163974762]], [[0.4744810163974762]], [[0.4744810163974762]]], "std": [[[0.15146860480308533]], [[0.15146860480308533]], [[0.15146860480308533]]], "count": [1584]}}}
+{"episode_index": 39, "stats": {"observation.state": {"min": [0.8708502054214478, -0.8752632737159729, 2.3968450477696024e-06, 1.127324104309082, -0.7048842906951904, -0.7699928879737854, 0.28851863741874695, 0.007669919636100531, -0.19568021595478058, -0.21823851764202118, -0.31715068221092224, 0.0024890312924981117, 0.0031046965159475803, -0.000170248094946146, 0.003439969150349498, 0.0008345218957401812, 0.003932631574571133, -0.0006966922665014863, 0.003670434933155775, 0.0008323047659359872, 0.003347802674397826, -0.0010465156519785523, 0.003025130368769169, 0.000888176029548049, 0.006139518693089485, 0.0032396193128079176, -0.0018251329893246293, 0.006529984530061483, 0.0008624575566500425, 0.33043918013572693, -1.1931085586547852, 0.0005203550681471825, 1.2105576992034912, -1.8230490684509277, -0.7694567441940308, -0.44457533955574036, 0.007810486480593681, -0.32100000977516174, -0.13060665130615234, -0.2895221412181854, 0.006882065441459417, 0.006896026898175478, 8.095368684735149e-05, 0.003479325445368886, 0.0011910338653251529, 0.01381977554410696, 0.0006380623090080917, 0.003404158167541027, 0.002776714041829109, 0.005375324748456478, -4.5873857743572444e-05, 0.005169526673853397, 0.002231747377663851, 0.010410209186375141, 0.016284937039017677, 0.00020753558783326298, 0.006795906461775303, 0.0008651180542074144, 0.5623956918716431, -1.1069588661193848, 0.5181978940963745, -0.0065194182097911835, 0.0, -0.182927206158638, -0.8258569240570068], "max": [1.0925699472427368, -0.5117133259773254, 0.29218536615371704, 1.7026124000549316, 1.1984224101979635e-07, -0.41477200388908386, 0.5249704122543335, 1.3092319965362549, -6.341797416098416e-05, 0.41396504640579224, -0.002475887071341276, 1.0282185077667236, 1.1719835996627808, 0.21764177083969116, 0.19245246052742004, 0.08828549832105637, 1.276248574256897, 0.19986973702907562, 0.003723973874002695, 0.07780785113573074, 1.1613407135009766, 0.114471435546875, 0.10434714704751968, 0.35067036747932434, 0.05926305055618286, 0.769910991191864, 0.16495290398597717, 0.2699836790561676, 0.23279568552970886, 1.4204037189483643, -0.5424579381942749, 0.8109902143478394, 1.9586652517318726, -0.0008375775068998337, 0.05415395647287369, 0.5193086862564087, 1.3277419805526733, 0.0014268065569922328, 0.6124820709228516, 0.3145047128200531, 0.6336367726325989, 1.4663822650909424, 0.10184415429830551, 0.10800552368164062, 0.4894670248031616, 1.4666253328323364, 0.19730693101882935, 1.6533745527267456, 1.3080309629440308, 1.4672633409500122, 0.21035100519657135, 1.6537120342254639, 0.9751020073890686, 0.14783544838428497, 1.466633677482605, 0.17159850895404816, 1.6534503698349, 1.3080908060073853, 0.5632585883140564, -1.106479525566101, 0.5851178169250488, 0.016586167737841606, 0.03345995768904686, 0.013422331772744656, -0.5568350553512573], "mean": [1.0078115463256836, -0.602140486240387, 0.1343449354171753, 1.332471251487732, -0.6174843907356262, -0.5479452013969421, 0.46072107553482056, 1.258492112159729, -0.1352529376745224, 0.28816473484039307, -0.30887389183044434, 0.8347694873809814, 1.125440239906311, 0.1788923442363739, 0.13399738073349, 0.08464248478412628, 1.196775197982788, 0.16493339836597443, 0.0036977888084948063, 0.07085273414850235, 1.0939357280731201, 0.07269693911075592, 0.006662051193416119, 0.33821654319763184, 0.05591593682765961, 0.6931994557380676, 0.07017100602388382, 0.24430806934833527, 0.20951737463474274, 0.9861913919448853, -0.8489371538162231, 0.3118230402469635, 1.5324344635009766, -1.1753255128860474, -0.24295707046985626, -0.18064948916435242, 1.2563859224319458, -0.2642415165901184, 0.23921267688274384, -0.08983732759952545, 0.5778247714042664, 1.2651515007019043, 0.06512193381786346, 0.09707964211702347, 0.41069746017456055, 1.4227505922317505, 0.1427992880344391, 1.3339934349060059, 1.1521683931350708, 1.3957597017288208, 0.12722556293010712, 1.429835557937622, 0.8689762949943542, 0.11317019909620285, 1.4342191219329834, 0.10258577764034271, 1.411222219467163, 1.118124008178711, 0.562683641910553, -1.1067852973937988, 0.5440038442611694, 0.0010762353194877505, 0.022295549511909485, -0.07449857145547867, -0.6765474677085876], "std": [0.04125959426164627, 0.09091755747795105, 0.04555021598935127, 0.15309733152389526, 0.1516924947500229, 0.03983293101191521, 0.032572709023952484, 0.14883191883563995, 0.020005980506539345, 0.1325521171092987, 0.03576625511050224, 0.09952957928180695, 0.13813647627830505, 0.03398748114705086, 0.05109423026442528, 0.010218258947134018, 0.17369993031024933, 0.027381548658013344, 7.80482696427498e-06, 0.014532405883073807, 0.16338592767715454, 0.021679731085896492, 0.016572069376707077, 0.04421698674559593, 0.008598706685006618, 0.09894577413797379, 0.03093535080552101, 0.04429667070508003, 0.038638900965452194, 0.280969500541687, 0.1747441291809082, 0.18558137118816376, 0.19683660566806793, 0.4223986864089966, 0.201779305934906, 0.1667175590991974, 0.14429546892642975, 0.051240235567092896, 0.19371390342712402, 0.1264081746339798, 0.06878132373094559, 0.19069001078605652, 0.0219609122723341, 0.012614875100553036, 0.06748995184898376, 0.1602613478899002, 0.022889841347932816, 0.5128962397575378, 0.22502225637435913, 0.20716612040996552, 0.02465822361409664, 0.5272837281227112, 0.1430538296699524, 0.02666996605694294, 0.14635144174098969, 0.029316440224647522, 0.5648442506790161, 0.444553941488266, 5.3138162911636755e-05, 4.1900842916220427e-05, 0.014315047301352024, 0.004764591343700886, 0.007827754132449627, 0.05285419151186943, 0.08287099003791809], "count": [1800]}, "observation.state.joint_torque": {"min": [-37.003501892089844, -7.321499824523926, -20.22800064086914, -9.821999549865723, -0.17839999496936798, -1.330399990081787, -0.24799999594688416, -1.2404158115386963, -0.5476168394088745, -1.0873534679412842, -0.787865161895752, -0.4051024913787842, -0.39721816778182983, -0.47205638885498047, -0.23409610986709595, -0.046377696096897125, -0.5574487447738647, -0.31854212284088135, -0.0016602561809122562, -0.022118592634797096, -0.6073408722877502, -0.871193528175354, -0.08633331209421158, -0.028540121391415596, -0.09587664157152176, -0.41544803977012634, -0.35596123337745667, -0.12119869887828827, -0.026399608701467514, 14.476499557495117, -6.531000137329102, 5.613999843597412, -13.406999588012695, -1.6904000043869019, -1.1311999559402466, -2.8408000469207764, -1.316827416419983, -1.05575430393219, -0.6747804284095764, -0.688450038433075, -0.1328205019235611, -0.6965710520744324, -1.0659648180007935, -0.1062563955783844, -0.02425910159945488, -0.309906929731369, -0.3789883852005005, -0.1328205019235611, -0.027113113552331924, -0.7550983428955078, -0.5574487447738647, -0.14610254764556885, -0.02996712550520897, -0.07476618140935898, -0.4029749631881714, -0.8769503235816956, -0.4781537652015686, -0.08205283433198929, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-20.017499923706055, 10.739999771118164, -10.348999977111816, 0.13300000131130219, 1.6735999584197998, 1.4767999649047852, 4.335999965667725, 0.7195430397987366, 0.7934076189994812, 1.042616605758667, 0.8910084366798401, 0.10459613054990768, 0.7032873034477234, 0.5325026512145996, 0.4615511894226074, 0.11201997101306915, 0.5622460246086121, 0.7243955135345459, 0.0016602561809122562, 0.01212955079972744, 0.5833542943000793, 0.2341092824935913, 0.059769220650196075, 0.01783757284283638, 0.069928377866745, 0.49124568700790405, 0.3885830044746399, 0.10293588042259216, 0.020691584795713425, 37.153499603271484, 16.5314998626709, 22.725000381469727, 3.5160000324249268, 0.09600000083446503, 3.8296000957489014, 0.753600001335144, 1.7523738145828247, 4.459893226623535, 2.3548965454101562, 1.6055549383163452, 0.874954879283905, 2.1396052837371826, 0.3789883553981781, 1.0559228658676147, 0.21405088901519775, 0.4643807113170624, 0.4125696122646332, 0.43996790051460266, 0.03496164828538895, 0.5200296640396118, 0.9680994153022766, 0.7155703902244568, 0.02354559674859047, 0.43496325612068176, 0.39625871181488037, 0.3502044379711151, 0.449929416179657, 0.08562035858631134, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.40790367126465, 1.5383185148239136, -14.699570655822754, -5.731969833374023, 0.3883651793003082, 0.7353588342666626, 1.8828586339950562, -0.05290520191192627, 0.0033323918469250202, 0.17682138085365295, 0.04441993311047554, 0.002787383971735835, 0.09758231043815613, 0.0802011713385582, 0.04177204892039299, 0.026934746652841568, -0.008080268278717995, 0.1683277189731598, 2.7670932922774227e-06, -0.000820131681393832, 0.018466059118509293, -0.04879795014858246, -0.001651034108363092, 0.00047091394662857056, 0.00018984622147399932, 0.02953069470822811, 0.05344587564468384, -0.00045380002120509744, 0.00047408355749212205, 26.111408233642578, 4.881992816925049, 15.102710723876953, -5.562330722808838, -0.6562022566795349, 1.2773725986480713, -1.0068291425704956, 0.10078056901693344, 0.4055372178554535, 0.14224940538406372, 0.10386814177036285, 0.034826625138521194, 0.21293267607688904, -0.08991764485836029, 0.10498923063278198, 0.02676670253276825, 0.012033835053443909, 0.007633056025952101, 0.004008598159998655, 0.0005985521711409092, -0.0063863047398626804, 0.11579404026269913, 0.0013780114240944386, -5.390937076299451e-05, 0.09470458328723907, 0.0009471987141296268, -0.07751236110925674, 0.001897305017337203, 0.0006211439031176269, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.2633626461029053, 1.5590559244155884, 0.9346237778663635, 0.9592452049255371, 0.25231850147247314, 0.4139184057712555, 0.39794400334358215, 0.17673106491565704, 0.1251094490289688, 0.26143383979797363, 0.1656550168991089, 0.029033349826931953, 0.13651777803897858, 0.11940190941095352, 0.08847478032112122, 0.019035642966628075, 0.18945004045963287, 0.13528093695640564, 0.0001173639902845025, 0.003812412964180112, 0.12203878164291382, 0.11161476373672485, 0.009542137384414673, 0.006917291320860386, 0.006387077737599611, 0.09266515076160431, 0.08360792696475983, 0.01648039184510708, 0.007416103035211563, 5.145495891571045, 3.5529589653015137, 1.6099075078964233, 2.332690954208374, 0.24063947796821594, 0.6754127144813538, 0.7207047939300537, 0.41537603735923767, 0.8003466129302979, 0.4178437292575836, 0.32163530588150024, 0.09507889300584793, 0.5006312131881714, 0.22350022196769714, 0.2114863395690918, 0.045274849981069565, 0.06667100638151169, 0.08842870593070984, 0.035812586545944214, 0.006171805784106255, 0.11289019137620926, 0.21190620958805084, 0.02134554274380207, 0.007267841603606939, 0.08770377933979034, 0.0820993185043335, 0.15471497178077698, 0.022064458578824997, 0.0050938804633915424, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1800]}, "observation.state.tcp": {"min": [0.34151920676231384, 0.13422830402851105, 1.031546711921692, -1.293284296989441, 1.0833157300949097, -1.5881000757217407, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.27488404512405396, -0.3302299380302429, 0.9762313961982727, -0.36041855812072754, 1.0854747295379639, 0.1093442291021347, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4449809193611145, 0.24851581454277039, 1.155683159828186, -0.4552985727787018, 1.4677895307540894, -1.2288566827774048, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.47148898243904114, -0.08998288214206696, 1.2717304229736328, 1.214065670967102, 2.1134748458862305, 1.4998306035995483, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.39605391025543213, 0.15531885623931885, 1.072036862373352, -0.5989253520965576, 1.2629249095916748, -1.3387348651885986, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3873380124568939, -0.21823523938655853, 1.1183596849441528, 0.3321658670902252, 1.6486166715621948, 0.7621200680732727, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.023298239335417747, 0.019012335687875748, 0.02178780548274517, 0.17630209028720856, 0.05341115593910217, 0.07810372859239578, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0655117928981781, 0.06953335553407669, 0.08094921708106995, 0.4691394567489624, 0.25638747215270996, 0.3841910660266876, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1800]}, "action": {"min": [0.87083500623703, -0.8754178285598755, -2.4833403351059264e-18, 1.1263426542282104, -0.7048749327659607, -0.7699999809265137, 0.2885289490222931, 0.0, -0.19509226083755493, -0.22180302441120148, -0.3490658402442932, 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, 0.3303334414958954, -1.1933114528656006, 0.001884480589069426, 1.2105258703231812, -1.8231256008148193, -0.7681074738502502, -0.4445544481277466, 0.0, -0.3490658402442932, -0.12948928773403168, -0.29403430223464966, 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, 0.5626833438873291, -1.1069231033325195, 0.5169095993041992, -0.00725483987480402, -2.2940692100397586e-18, -0.1829231083393097, -0.8262964487075806], "max": [1.0925034284591675, -0.5116191506385803, 0.2922517657279968, 1.7027350664138794, -8.958973184518904e-18, -0.41432493925094604, 0.5250723958015442, 1.3151967525482178, 0.0, 0.42319759726524353, 0.0, 1.0337305068969727, 1.1768161058425903, 0.21994537115097046, 0.1966210901737213, 0.09077325463294983, 1.2791105508804321, 0.2034549117088318, 0.0, 0.07909565418958664, 1.1622726917266846, 0.11688082665205002, 0.11246343702077866, 0.35413867235183716, 0.0777728334069252, 0.7777283191680908, 0.16615992784500122, 0.2755603790283203, 0.2359645813703537, 1.4205838441848755, -0.542375922203064, 0.8123703002929688, 1.9587700366973877, -0.003121832851320505, 0.054378531873226166, 0.517169177532196, 1.3328375816345215, 0.0, 0.6172717809677124, 0.3490658402442932, 0.6430253982543945, 1.5707963705062866, 0.10892336815595627, 0.11367765069007874, 0.4929828941822052, 1.5707963705062866, 0.19798988103866577, 1.7453292608261108, 1.346930980682373, 1.5707963705062866, 0.21141237020492554, 1.7453292608261108, 0.9790635108947754, 0.16129806637763977, 1.5707963705062866, 0.1767062544822693, 1.7453292608261108, 1.3962633609771729, 0.5627789497375488, -1.106767177581787, 0.5852497816085815, 0.017332686111330986, 0.033896077424287796, 0.013827967457473278, -0.5562976598739624], "mean": [1.0078312158584595, -0.6022112369537354, 0.13434182107448578, 1.3326269388198853, -0.6173231601715088, -0.5479156374931335, 0.46067917346954346, 1.2544872760772705, -0.1356586217880249, 0.29300397634506226, -0.3349233567714691, 0.8397650122642517, 1.1284024715423584, 0.18310797214508057, 0.1348433643579483, 0.08653123676776886, 1.1987749338150024, 0.16873452067375183, 0.0, 0.07320740818977356, 1.0969187021255493, 0.07537824660539627, 0.004166619852185249, 0.34044966101646423, 0.06971832364797592, 0.6971831321716309, 0.07320362329483032, 0.24759718775749207, 0.2122199386358261, 0.9876740574836731, -0.8493068218231201, 0.31110134720802307, 1.532206654548645, -1.175015926361084, -0.2433534562587738, -0.1805984377861023, 1.2582969665527344, -0.26597458124160767, 0.24097926914691925, -0.08929844945669174, 0.5794785618782043, 1.2748552560806274, 0.06388489156961441, 0.09981722384691238, 0.4134539067745209, 1.5137861967086792, 0.1434219628572464, 1.363449215888977, 1.1605082750320435, 1.4868593215942383, 0.12826836109161377, 1.5058897733688354, 0.8706009984016418, 0.13073734939098358, 1.5258729457855225, 0.10332143306732178, 1.4878449440002441, 1.1927372217178345, 0.5626834630966187, -1.1067878007888794, 0.5440524816513062, 0.0010906931711360812, 0.02233995869755745, -0.07453465461730957, -0.676581084728241], "std": [0.04128366708755493, 0.09101912379264832, 0.04559015855193138, 0.15325017273426056, 0.15204991400241852, 0.03993873670697212, 0.03258567675948143, 0.16306115686893463, 0.021564936265349388, 0.13419267535209656, 0.04467609152197838, 0.115916408598423, 0.15221291780471802, 0.03649153560400009, 0.051996685564517975, 0.011495707556605339, 0.182729572057724, 0.029896007850766182, 0.0, 0.015593254007399082, 0.17171570658683777, 0.0229124017059803, 0.017416689544916153, 0.04768219590187073, 0.010582156479358673, 0.10582160949707031, 0.03152790293097496, 0.045422472059726715, 0.03893538936972618, 0.2818601429462433, 0.17500726878643036, 0.18579789996147156, 0.19682542979717255, 0.42266884446144104, 0.2019818276166916, 0.1668260246515274, 0.16141869127750397, 0.060057349503040314, 0.19411824643611908, 0.13038840889930725, 0.07884658873081207, 0.2088756412267685, 0.022737819701433182, 0.014096179977059364, 0.07349033653736115, 0.19944100081920624, 0.02591683901846409, 0.5308511853218079, 0.23577114939689636, 0.24556158483028412, 0.02748211659491062, 0.562163770198822, 0.148277148604393, 0.02984759211540222, 0.1843648999929428, 0.03169897571206093, 0.5965327024459839, 0.4757714867591858, 5.08562516188249e-06, 2.5473606001469307e-05, 0.01438535749912262, 0.004846923053264618, 0.007879979908466339, 0.05290938541293144, 0.08294138312339783], "count": [1800]}, "observation.state.tcp_pose": {"min": [0.34151920676231384, 0.13422830402851105, 1.031546711921692, -1.293284296989441, 1.0833157300949097, -1.5881000757217407, 0.27488404512405396, -0.3302299380302429, 0.9762313961982727, -0.36041855812072754, 1.0854747295379639, 0.1093442291021347], "max": [0.4449809193611145, 0.24851581454277039, 1.155683159828186, -0.4552985727787018, 1.4677895307540894, -1.2288566827774048, 0.47148898243904114, -0.08998288214206696, 1.2717304229736328, 1.214065670967102, 2.1134748458862305, 1.4998306035995483], "mean": [0.39605391025543213, 0.15531885623931885, 1.072036862373352, -0.5989253520965576, 1.2629249095916748, -1.3387348651885986, 0.3873380124568939, -0.21823523938655853, 1.1183596849441528, 0.3321658670902252, 1.6486166715621948, 0.7621200680732727], "std": [0.023298239335417747, 0.019012335687875748, 0.02178780548274517, 0.17630209028720856, 0.05341115593910217, 0.07810372859239578, 0.0655117928981781, 0.06953335553407669, 0.08094921708106995, 0.4691394567489624, 0.25638747215270996, 0.3841910660266876], "count": [1800]}, "action.tcp_pose": {"min": [0.3414789140224457, 0.1342528611421585, 1.0310031175613403, -1.293250560760498, 1.0763790607452393, -1.5872994661331177, 0.2748967111110687, -0.3307226598262787, 0.9763070344924927, -0.36085543036460876, 1.078364610671997, 0.10906191915273666], "max": [0.4448436200618744, 0.24831058084964752, 1.1569045782089233, -0.45541056990623474, 1.468390941619873, -1.2173808813095093, 0.4716052711009979, -0.09006237983703613, 1.2728137969970703, 1.2268813848495483, 2.1137855052948, 1.5016813278198242], "mean": [0.39603251218795776, 0.15532703697681427, 1.0720367431640625, -0.5991441011428833, 1.2629908323287964, -1.3387831449508667, 0.38742509484291077, -0.21842825412750244, 1.1188112497329712, 0.3321336507797241, 1.647569179534912, 0.7612903118133545], "std": [0.023355241864919662, 0.01891770400106907, 0.021952569484710693, 0.17690108716487885, 0.05364002659916878, 0.07807281613349915, 0.06558127701282501, 0.0697999820113182, 0.0815117210149765, 0.46962031722068787, 0.25655168294906616, 0.3842869699001312], "count": [1800]}, "subtask_index": {"min": [0], "max": [21], "mean": [10.372777777777777], "std": [6.916360077988643], "count": [1800]}, "observation.tactile": {"min": [-5.753318786621094, -0.002716064453125, -0.001953125, -0.14892864227294922, -0.018774032592773438, -0.1323554515838623, -5.060466766357422, -0.00897216796875, -0.00225830078125, -0.23512554168701172, -0.015490055084228516, -0.09855484962463379, -0.03462791442871094, -0.00726318359375, -0.01043701171875, -0.0014057159423828125, -0.0035729408264160156, -0.0005652904510498047, -0.019428253173828125, -0.005340576171875, -0.004638671875, -0.000255584716796875, -0.00075531005859375, -0.0003859996795654297, -0.00200653076171875, -0.003662109375, -0.0037841796875, -7.05718994140625e-05, -0.0013394355773925781, -0.00034737586975097656, -1.1357383728027344, -0.011077880859375, 0.0, -0.34166812896728516, -0.03853893280029297, -0.03420305252075195, -6.794605255126953, -0.0098876953125, -0.00030517578125, -0.1819295883178711, -0.023552417755126953, -0.13821983337402344, -0.024053573608398438, -0.007843017578125, -0.0037841796875, -0.0003509521484375, -0.0011715888977050781, -0.0004937648773193359, -0.011566162109375, -0.013031005859375, -0.01617431640625, -0.008217811584472656, -0.0018243789672851562, -0.0006682872772216797, -0.028501510620117188, -0.006805419921875, -0.00408935546875, -0.000194549560546875, -0.0005788803100585938, -0.0003731250762939453], "max": [0.8145523071289062, 4.591583251953125, 5.74932861328125, 0.0003108978271484375, 0.0042018890380859375, 0.018233537673950195, 5.861408233642578, 7.31353759765625, 15.5694580078125, 0.0004215240478515625, 0.020459651947021484, 0.10035872459411621, 0.40412330627441406, 0.168304443359375, 0.16107177734375, 0.0017576217651367188, 0.00042128562927246094, 0.00847935676574707, 0.0115814208984375, 0.0064239501953125, 0.007080078125, 0.00066375732421875, 0.00011444091796875, 9.059906005859375e-06, 0.0179290771484375, 0.0130615234375, 0.0037841796875, 0.0014476776123046875, 6.198883056640625e-05, 0.0, 7.122074127197266, 19.750732421875, 13.03265380859375, 0.0017271041870117188, 0.01927661895751953, 0.14160871505737305, 0.028957366943359375, 7.386871337890625, 8.4730224609375, 0.000782012939453125, 0.008498668670654297, 0.0022258758544921875, 0.028024673461914062, 0.02996826171875, 0.043212890625, 0.0010223388671875, 0.0007562637329101562, 0.00040841102600097656, 0.9364662170410156, 0.229034423828125, 0.57861328125, 0.0014019012451171875, 0.0033445358276367188, 0.015334367752075195, 0.0070781707763671875, 0.0076904296875, 0.008056640625, 0.0006561279296875, 0.0001850128173828125, 6.818771362304688e-05], "mean": [-1.7239413261413574, 0.9908219575881958, 0.9585598707199097, -0.02143256925046444, 0.0009023130987770855, -0.0417458675801754, 0.34507718682289124, 0.6347193717956543, 1.9529131650924683, -0.03162170946598053, 0.002461101161316037, 0.004630027338862419, -0.0063261063769459724, 0.0009390004561282694, 0.00042171901441179216, 0.0001853407738963142, -0.00025126695982180536, -5.251241964288056e-05, 0.001895580324344337, 0.000340211670845747, 5.886501821805723e-05, 0.00012987348600290716, -0.00015849166084080935, -0.0001440579362679273, 0.002723399316892028, 0.0007283867453224957, -4.9709742597769946e-05, 0.00041207100730389357, -0.000405883532948792, -0.00017680088058114052, 0.7839930057525635, 2.0677576065063477, 2.4782536029815674, -0.058542292565107346, -0.001403512549586594, 0.01584514230489731, -1.0424418449401855, 1.1238033771514893, 1.3611162900924683, -0.025485366582870483, -0.001384533243253827, -0.02033773995935917, 0.005605513229966164, -0.002041651401668787, 0.0024683973751962185, 0.00034228008007630706, -0.0002882496628444642, -0.00024641925119794905, 0.05763263255357742, 0.0054436237551271915, 0.010854830965399742, 0.0007146750576794147, -0.0007785360212437809, 0.0005862261168658733, -0.007040099240839481, 0.00011184692266397178, 0.0024031575303524733, 0.00019413523841649294, -8.104562584776431e-05, -0.00010845998622244224], "std": [0.9633617997169495, 0.8054689764976501, 0.6999688148498535, 0.01791614480316639, 0.002942631719633937, 0.02321258932352066, 0.9289132356643677, 0.8607539534568787, 1.9039846658706665, 0.02900555729866028, 0.002791207516565919, 0.016616785898804665, 0.02407987229526043, 0.011158108711242676, 0.010345710441470146, 0.00016438002057839185, 0.00026171901845373213, 0.0004892258439213037, 0.003246064530685544, 0.00174040999263525, 0.001657836721278727, 0.0001368889061268419, 0.00012291227176319808, 5.573601447395049e-05, 0.0015525968046858907, 0.0013479855842888355, 0.0011501074768602848, 0.0001455566962249577, 0.00014689011732116342, 5.1388076826697215e-05, 1.5022701025009155, 3.3694911003112793, 3.5679821968078613, 0.08929980546236038, 0.006096357479691505, 0.03125515207648277, 1.4589838981628418, 1.7139232158660889, 2.0431394577026367, 0.04110145568847656, 0.004769972525537014, 0.028961975127458572, 0.006579855922609568, 0.0017473651096224785, 0.002260200446471572, 0.0002770691935438663, 0.0002782598021440208, 9.676397166913375e-05, 0.13246095180511475, 0.02317454107105732, 0.05860823765397072, 0.0005977347609587014, 0.00038463063538074493, 0.0030911245848983526, 0.007183833513408899, 0.0016823026817291975, 0.0016779672587290406, 0.00012438106932677329, 9.723541734274477e-05, 7.84487638156861e-05], "count": [1800]}, "timestamp": {"min": [0.0], "max": [59.96666666666667], "mean": [29.983333333333334], "std": [17.320505402770653], "count": [1800]}, "frame_index": {"min": [0], "max": [1799], "mean": [899.5], "std": [519.6151620831197], "count": [1800]}, "episode_index": {"min": [39], "max": [39], "mean": [39.0], "std": [0.0], "count": [1800]}, "index": {"min": [59950], "max": [61749], "mean": [60849.5], "std": [519.6151620831197], "count": [1800]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1800]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3459954857826233]], [[0.3451025187969208]], [[0.3449769914150238]]], "std": [[[0.21893121302127838]], [[0.21887817978858948]], [[0.21876072883605957]]], "count": [1800]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30622896552085876]], [[0.30772724747657776]], [[0.3056321442127228]]], "std": [[[0.17205768823623657]], [[0.1742328256368637]], [[0.17323656380176544]]], "count": [1800]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3089512288570404]], [[0.30844351649284363]], [[0.30671894550323486]]], "std": [[[0.17283110320568085]], [[0.173797145485878]], [[0.1724216789007187]]], "count": [1800]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34562021493911743]], [[0.34474143385887146]], [[0.34476321935653687]]], "std": [[[0.21979892253875732]], [[0.21975645422935486]], [[0.21974486112594604]]], "count": [1800]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7568627595901489]], [[0.7568627595901489]], [[0.7568627595901489]]], "mean": [[[0.00412746611982584]], [[0.00412746611982584]], [[0.00412746611982584]]], "std": [[[0.041892897337675095]], [[0.041892897337675095]], [[0.041892897337675095]]], "count": [1800]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.9529411792755127]], [[0.9529411792755127]], [[0.9529411792755127]]], "mean": [[[0.4742632210254669]], [[0.4742632210254669]], [[0.4742632210254669]]], "std": [[[0.15179389715194702]], [[0.15179389715194702]], [[0.15179389715194702]]], "count": [1800]}}}
+{"episode_index": 40, "stats": {"observation.state": {"min": [0.8889236450195312, -0.8782345652580261, -7.190535029621969e-07, 1.1459585428237915, -0.7340371012687683, -0.7700012922286987, 0.2931097149848938, 0.00765727274119854, -0.19234426319599152, -0.2331862598657608, -0.3160722255706787, 0.0024709487333893776, 0.0032052751630544662, -0.0008076184894889593, 0.003411249490454793, 0.0008074730867519975, 0.003918894100934267, -0.000657932716421783, 0.003638878930360079, 0.0008256534347310662, 0.0032926069106906652, -0.0013627168955281377, 0.003026903374120593, 0.0008793076267465949, 0.0056985351257026196, 0.0032656225375831127, 0.0001251102949026972, 0.006533175241202116, 0.0008562495931982994, 0.4149306118488312, -1.229078769683838, 0.0003848134365398437, 1.2577790021896362, -1.8916306495666504, -0.7696319818496704, -0.50328528881073, 0.006206254940479994, -0.3206683099269867, -0.1041160598397255, -0.30996641516685486, 0.006914330646395683, 0.006429930217564106, 2.7965681510977447e-05, 0.0034747160971164703, 0.001177287776954472, 0.00982851255685091, -0.00024310634762514383, 0.003407703945413232, 0.0026831519789993763, 0.004881261847913265, -0.0001317336136708036, 0.004380624275654554, 0.0017900981474667788, 0.010294610634446144, 0.014449496753513813, 6.378203397616744e-05, 0.0067831422202289104, 0.0008367390255443752, 0.5624915957450867, -1.106863021850586, 0.517718493938446, -0.007382282521575689, -0.004218447022140026, -0.20564930140972137, -0.7650729417800903], "max": [1.0962592363357544, -0.5024396777153015, 0.32685738801956177, 1.6381534337997437, 1.1984224101979635e-07, -0.3620222210884094, 0.5200149416923523, 1.3263612985610962, -5.7455657952232286e-05, 0.4386920630931854, -0.005163717083632946, 0.9922299981117249, 1.1557811498641968, 0.18086431920528412, 0.45389261841773987, 0.08814714848995209, 1.2773735523223877, 0.15184922516345978, 0.003717237152159214, 0.06118260324001312, 1.1699789762496948, 0.06079549342393875, 0.07843107730150223, 0.3276079297065735, 0.05922345072031021, 0.768131673336029, 0.1517699956893921, 0.3514760434627533, 0.3044351041316986, 1.1937388181686401, -0.5216909646987915, 0.7421219348907471, 1.9727846384048462, -0.000621262239292264, 0.15076743066310883, 0.5194354057312012, 1.3315681219100952, 0.0015581584302708507, 0.5537242293357849, 0.3132493495941162, 0.6453661322593689, 1.4651373624801636, 0.11097575724124908, 0.1071145087480545, 0.48011744022369385, 1.4666863679885864, 0.19504927098751068, 1.6533643007278442, 1.2896071672439575, 1.4667823314666748, 0.21995924413204193, 1.6536933183670044, 0.9751627445220947, 0.13943856954574585, 1.466936469078064, 0.17534194886684418, 1.653415322303772, 1.308074951171875, 0.5628750920295715, -1.1066712141036987, 0.5674770474433899, 0.01955825462937355, 0.03269296512007713, 0.0, -0.47265782952308655], "mean": [1.0169848203659058, -0.5887784957885742, 0.14344701170921326, 1.27267324924469, -0.621559202671051, -0.46490833163261414, 0.448546439409256, 1.2750505208969116, -0.128747820854187, 0.3117749094963074, -0.30727073550224304, 0.7982301115989685, 1.0973553657531738, 0.15593524277210236, 0.16606712341308594, 0.08434469252824783, 1.2015464305877686, 0.13138529658317566, 0.003675048006698489, 0.05511736869812012, 1.0990718603134155, 0.03493364900350571, 0.004952969029545784, 0.31443291902542114, 0.055555280297994614, 0.7033700346946716, 0.03151888772845268, 0.19968092441558838, 0.17264504730701447, 0.9334510564804077, -0.830352783203125, 0.3773961663246155, 1.5479577779769897, -1.1556012630462646, -0.24111242592334747, -0.16834712028503418, 1.233126163482666, -0.23970763385295868, 0.19098693132400513, -0.1201125830411911, 0.5808747410774231, 1.2537504434585571, 0.06185155734419823, 0.09629068523645401, 0.41215112805366516, 1.4141901731491089, 0.15022782981395721, 1.3036954402923584, 1.1018121242523193, 1.3493223190307617, 0.13599656522274017, 1.4363913536071777, 0.858556866645813, 0.11269329488277435, 1.434466004371643, 0.11313039809465408, 1.3544862270355225, 1.080884337425232, 0.5626825094223022, -1.1067805290222168, 0.5319402813911438, 0.0046875434927642345, 0.019460447132587433, -0.09466936439275742, -0.6388528943061829], "std": [0.05076484754681587, 0.08982569724321365, 0.044054679572582245, 0.14537961781024933, 0.183047354221344, 0.04788300022482872, 0.023323513567447662, 0.1752418875694275, 0.020969590172171593, 0.1376131772994995, 0.040399618446826935, 0.10815383493900299, 0.1771388053894043, 0.0343136191368103, 0.07384330779314041, 0.011567517183721066, 0.20418787002563477, 0.021123269572854042, 1.4208060747478157e-05, 0.0121489018201828, 0.1897464394569397, 0.013260399922728539, 0.010520504787564278, 0.04706854373216629, 0.009299041703343391, 0.11508180946111679, 0.022028325125575066, 0.04451027512550354, 0.039219677448272705, 0.22674745321273804, 0.16498923301696777, 0.17003720998764038, 0.1952020525932312, 0.4940597116947174, 0.21559688448905945, 0.18634387850761414, 0.16465619206428528, 0.05514046549797058, 0.22167760133743286, 0.15444225072860718, 0.07885434478521347, 0.20945818722248077, 0.022095898166298866, 0.013654160313308239, 0.07137080281972885, 0.18202270567417145, 0.021241193637251854, 0.5382646918296814, 0.2484208345413208, 0.2633739709854126, 0.02562885917723179, 0.4716561436653137, 0.16487863659858704, 0.028497058898210526, 0.1620997041463852, 0.030449623242020607, 0.6025625467300415, 0.4772486984729767, 4.102282764506526e-05, 3.188292248523794e-05, 0.013561426661908627, 0.005926584824919701, 0.01030063722282648, 0.050986312329769135, 0.07582679390907288], "count": [1475]}, "observation.state.joint_torque": {"min": [-38.43450164794922, -4.4054999351501465, -23.06800079345703, -10.850000381469727, -0.24160000681877136, -1.3976000547409058, 1.1055999994277954, -1.1270718574523926, -0.7169960141181946, -0.8437862396240234, -0.7120611071586609, -0.39348068833351135, -0.3578801453113556, -0.6121382117271423, -0.5346024632453918, -0.046377696096897125, -0.4116101562976837, -0.3290962278842926, -0.0016602561809122562, -0.022832093760371208, -0.8193824887275696, -0.9959239363670349, -0.08301279693841934, -0.027826614677906036, -0.08840001374483109, -0.42024534940719604, -0.4432724714279175, -0.16934612393379211, -0.025686107575893402, 14.407500267028809, -11.517000198364258, 7.827000141143799, -11.937999725341797, -1.8688000440597534, -1.4016000032424927, -3.0352001190185547, -1.4862066507339478, -1.1232513189315796, -1.2836984395980835, -0.6648389101028442, -0.17930765450000763, -0.6975305080413818, -1.2261953353881836, -0.07803203910589218, -0.02497260272502899, -0.6812195777893066, -0.4643807113170624, -0.3270704448223114, -0.019978083670139313, -0.46534016728401184, -0.5939083695411682, -0.16602559387683868, -0.027113113552331924, -0.046179115772247314, -0.9172477722167969, -0.7253549695014954, -0.4316665828227997, -0.06849627941846848, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-20.14349937438965, 10.472999572753906, -11.057999610900879, -0.7889999747276306, 1.736799955368042, 1.718400001525879, 4.360000133514404, 0.7297312617301941, 0.3922464847564697, 1.2588444948196411, 0.8015348315238953, 0.1759871542453766, 0.7387874722480774, 0.7387874722480774, 0.34865376353263855, 0.06920978426933289, 0.8232203125953674, 0.9537074565887451, 0.0016602561809122562, 0.05422622710466385, 0.7100034952163696, 0.14583857357501984, 0.10293588042259216, 0.02497260272502899, 0.05585474148392677, 0.48452943563461304, 0.3175826668739319, 0.10127562284469604, 0.02354559674859047, 48.82350158691406, 19.52549934387207, 28.12299919128418, 1.4919999837875366, 0.002400000113993883, 3.3239998817443848, 0.8960000276565552, 1.4989418983459473, 3.042457103729248, 1.555847406387329, 1.0451020002365112, 0.4067627489566803, 2.0052802562713623, 0.3837856948375702, 0.9546473026275635, 0.21262387931346893, 0.4096912145614624, 0.3693937361240387, 0.7039486169815063, 0.02497260272502899, 0.46054282784461975, 0.8241798281669617, 0.7139101028442383, 0.02354559674859047, 0.34876227378845215, 0.40105605125427246, 0.4212047755718231, 0.2922050952911377, 0.038529157638549805, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-30.24285316467285, 1.6676347255706787, -14.75391960144043, -5.441652297973633, 0.24998486042022705, 0.7574054002761841, 1.8937944173812866, -0.004797958768904209, -0.014449156820774078, 0.2928473949432373, 0.1257392317056656, 0.0034432068932801485, 0.07969930022954941, 0.07662389427423477, 0.031642742455005646, 0.021830305457115173, 0.13676494359970093, 0.17462824285030365, -4.502389856497757e-06, 0.017629100009799004, 0.013985421508550644, -0.12834596633911133, -0.0001181878978968598, 0.00036231434205546975, 0.0003235144540667534, 0.014220329001545906, -0.0041455370374023914, -0.001867366023361683, -0.001531491638161242, 26.044767379760742, 4.745251178741455, 14.765535354614258, -6.301943302154541, -0.7070697546005249, 1.110735535621643, -1.0710850954055786, 0.095140740275383, 0.42548441886901855, 0.17326471209526062, 0.07454702258110046, 0.03581872582435608, 0.2961900532245636, -0.17829379439353943, 0.12612447142601013, 0.03099069558084011, 0.010812357999384403, 0.0026799857150763273, 0.004124198108911514, 0.0006540099857375026, -0.008538908325135708, 0.06018989160656929, 0.0022399411536753178, 0.00065109838033095, 0.07328454405069351, 0.005006779916584492, -0.05996100977063179, -0.0019225176656618714, 0.00018478512356523424, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.19107723236084, 1.5475211143493652, 0.8537184596061707, 1.0850979089736938, 0.27713263034820557, 0.4632784128189087, 0.3748074769973755, 0.14790219068527222, 0.08709780871868134, 0.31917884945869446, 0.2181970179080963, 0.03537804260849953, 0.1466948390007019, 0.1479918360710144, 0.07450558990240097, 0.014876121655106544, 0.19552485644817352, 0.19325470924377441, 0.00016168771253433079, 0.013602775521576405, 0.1768091320991516, 0.19898270070552826, 0.007584505248814821, 0.005379127338528633, 0.007876807823777199, 0.08435966074466705, 0.0649954155087471, 0.01903846487402916, 0.006530380807816982, 4.781735897064209, 3.033519983291626, 1.6350120306015015, 2.0536108016967773, 0.2822527587413788, 0.6901751160621643, 0.7683191299438477, 0.4128445088863373, 0.7714890241622925, 0.35169434547424316, 0.29570868611335754, 0.0638033077120781, 0.5046901702880859, 0.30190643668174744, 0.2073058933019638, 0.04859662428498268, 0.062494684010744095, 0.0651896521449089, 0.03815092891454697, 0.005984119139611721, 0.11916529387235641, 0.19062331318855286, 0.02350396290421486, 0.007504610810428858, 0.07602863758802414, 0.08318845182657242, 0.141799196600914, 0.02619324065744877, 0.0047015175223350525, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1475]}, "observation.state.tcp": {"min": [0.3455694615840912, 0.1407792717218399, 1.0345910787582397, -1.2279750108718872, 1.1014695167541504, -1.6243633031845093, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2780398428440094, -0.32523778080940247, 1.0017057657241821, -0.4214569628238678, 1.1187858581542969, -0.01605786196887493, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4335925877094269, 0.23020629584789276, 1.1413930654525757, -0.3949775993824005, 1.4558613300323486, -1.2286936044692993, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4653017520904541, -0.08911905437707901, 1.254563808441162, 1.2086265087127686, 2.0756850242614746, 1.595406413078308, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4054230749607086, 0.1600492298603058, 1.076470971107483, -0.5846355557441711, 1.3029594421386719, -1.3463424444198608, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.38228052854537964, -0.21288911998271942, 1.121279239654541, 0.38371288776397705, 1.5988508462905884, 0.8283222317695618, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.024616394191980362, 0.016997847706079483, 0.01966823637485504, 0.21235865354537964, 0.054042890667915344, 0.10216833651065826, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06166850030422211, 0.05854397639632225, 0.07387259602546692, 0.4826638996601105, 0.2705819010734558, 0.4210870563983917, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1475]}, "action": {"min": [0.8889075517654419, -0.8786104917526245, 1.3280029046875462e-17, 1.1458148956298828, -0.734021008014679, -0.7699999809265137, 0.2931021749973297, 0.0, -0.19221645593643188, -0.23635663092136383, -0.3490658402442932, 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, 0.41494813561439514, -1.2293510437011719, 0.001205107313580811, 1.257696509361267, -1.8916189670562744, -0.7683361768722534, -0.5030459761619568, 0.0, -0.3490658402442932, -0.10523322224617004, -0.31435948610305786, 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, 0.5626833438873291, -1.1069231033325195, 0.5169365406036377, -0.0076311565935611725, -0.004216725472360849, -0.20629094541072845, -0.7651490569114685], "max": [1.0963001251220703, -0.5023959875106812, 0.32681000232696533, 1.6382973194122314, 2.5558284469306328e-17, -0.3618217408657074, 0.5199999809265137, 1.3351384401321411, 0.0, 0.4449225962162018, 0.0, 0.9988231062889099, 1.163540244102478, 0.18466371297836304, 0.4602751135826111, 0.08985286206007004, 1.2821974754333496, 0.15523046255111694, 0.0, 0.06464772671461105, 1.1719141006469727, 0.06108229607343674, 0.0841999426484108, 0.3326246440410614, 0.07735097408294678, 0.7735097408294678, 0.14938199520111084, 0.3568996787071228, 0.30614417791366577, 1.1952577829360962, -0.5216572880744934, 0.7448693513870239, 1.9729787111282349, -0.002053953008726239, 0.151296928524971, 0.5176664590835571, 1.3433837890625, 0.0, 0.5566794872283936, 0.3490658402442932, 0.6496407985687256, 1.56716787815094, 0.11448400467634201, 0.11133473366498947, 0.48469963669776917, 1.5707963705062866, 0.1947302222251892, 1.7453292608261108, 1.2941524982452393, 1.5707963705062866, 0.21956175565719604, 1.7453292608261108, 0.9794948101043701, 0.1561879962682724, 1.5707963705062866, 0.18169158697128296, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106767177581787, 0.5677598714828491, 0.019773665815591812, 0.033724404871463776, -1.4583209088560904e-17, -0.4726100564002991], "mean": [1.0169622898101807, -0.5888980627059937, 0.14343325793743134, 1.2728849649429321, -0.6215419769287109, -0.4649050235748291, 0.4485779106616974, 1.2755392789840698, -0.132954940199852, 0.31869497895240784, -0.3405481278896332, 0.8037751317024231, 1.100731372833252, 0.1602642983198166, 0.1693849414587021, 0.08640000224113464, 1.2061221599578857, 0.13471105694770813, 0.0, 0.05891602486371994, 1.1015428304672241, 0.03421451896429062, 0.0023443270474672318, 0.31766965985298157, 0.07105880975723267, 0.710586428642273, 0.0328080952167511, 0.20566913485527039, 0.17626775801181793, 0.934452474117279, -0.830690324306488, 0.3774360716342926, 1.5479577779769897, -1.1543381214141846, -0.24171555042266846, -0.16833172738552094, 1.2353870868682861, -0.2425273060798645, 0.19269154965877533, -0.12122117727994919, 0.5835461616516113, 1.2659534215927124, 0.060440793633461, 0.09979923814535141, 0.41491711139678955, 1.502173900604248, 0.14981567859649658, 1.3409318923950195, 1.103687047958374, 1.4261536598205566, 0.13565011322498322, 1.5098636150360107, 0.8604084253311157, 0.12727594375610352, 1.5239760875701904, 0.11264847218990326, 1.4196581840515137, 1.146759033203125, 0.5626831650733948, -1.1067826747894287, 0.5319870710372925, 0.004723080899566412, 0.019499829038977623, -0.09471969306468964, -0.6388994455337524], "std": [0.05081489682197571, 0.08999468386173248, 0.04420752078294754, 0.14560696482658386, 0.1831510365009308, 0.04811692237854004, 0.02339107356965542, 0.18878217041492462, 0.02287212572991848, 0.13760286569595337, 0.050938770174980164, 0.12475434690713882, 0.18721461296081543, 0.03536241874098778, 0.07820416986942291, 0.01292070560157299, 0.21149568259716034, 0.023635564371943474, 0.0, 0.012845738790929317, 0.19547085464000702, 0.012604272924363613, 0.012988856993615627, 0.04999877139925957, 0.01212363876402378, 0.1212364062666893, 0.022374227643013, 0.0482797771692276, 0.041381292045116425, 0.22671987116336823, 0.165448859333992, 0.17023965716362, 0.1953924596309662, 0.4944314658641815, 0.21585524082183838, 0.18636932969093323, 0.1813410520553589, 0.0669933557510376, 0.2217612862586975, 0.15503744781017303, 0.0897577777504921, 0.22956649959087372, 0.02125946618616581, 0.015691300854086876, 0.07809105515480042, 0.2219628244638443, 0.02447822317481041, 0.5601368546485901, 0.2550213932991028, 0.3028642535209656, 0.02807854488492012, 0.5103167295455933, 0.1693197786808014, 0.03071746602654457, 0.20130355656147003, 0.032125696539878845, 0.6339663863182068, 0.5080927610397339, 1.7989499667692144e-07, 2.306428359588608e-05, 0.013606766238808632, 0.0059752087108790874, 0.010362005792558193, 0.05102641507983208, 0.07590225338935852], "count": [1475]}, "observation.state.tcp_pose": {"min": [0.3455694615840912, 0.1407792717218399, 1.0345910787582397, -1.2279750108718872, 1.1014695167541504, -1.6243633031845093, 0.2780398428440094, -0.32523778080940247, 1.0017057657241821, -0.4214569628238678, 1.1187858581542969, -0.01605786196887493], "max": [0.4335925877094269, 0.23020629584789276, 1.1413930654525757, -0.3949775993824005, 1.4558613300323486, -1.2286936044692993, 0.4653017520904541, -0.08911905437707901, 1.254563808441162, 1.2086265087127686, 2.0756850242614746, 1.595406413078308], "mean": [0.4054230749607086, 0.1600492298603058, 1.076470971107483, -0.5846355557441711, 1.3029594421386719, -1.3463424444198608, 0.38228052854537964, -0.21288911998271942, 1.121279239654541, 0.38371288776397705, 1.5988508462905884, 0.8283222317695618], "std": [0.024616394191980362, 0.016997847706079483, 0.01966823637485504, 0.21235865354537964, 0.054042890667915344, 0.10216833651065826, 0.06166850030422211, 0.05854397639632225, 0.07387259602546692, 0.4826638996601105, 0.2705819010734558, 0.4210870563983917], "count": [1475]}, "action.tcp_pose": {"min": [0.34591206908226013, 0.14078304171562195, 1.0341708660125732, -1.2296290397644043, 1.1001359224319458, -1.6237856149673462, 0.27809205651283264, -0.3258267641067505, 1.0015181303024292, -0.42155489325523376, 1.1170812845230103, -0.01624416373670101], "max": [0.4338626265525818, 0.23197124898433685, 1.1425987482070923, -0.39491966366767883, 1.455947995185852, -1.2289544343948364, 0.4663548469543457, -0.08926490694284439, 1.2544288635253906, 1.2085323333740234, 2.0754945278167725, 1.6013376712799072], "mean": [0.4053798317909241, 0.16006579995155334, 1.0764672756195068, -0.5846503973007202, 1.3030339479446411, -1.3463268280029297, 0.3824041783809662, -0.21307745575904846, 1.1217591762542725, 0.38469198346138, 1.5976840257644653, 0.8286241292953491], "std": [0.024649830535054207, 0.016985315829515457, 0.019852017983794212, 0.21252194046974182, 0.05400288850069046, 0.10214418172836304, 0.06169059872627258, 0.058871716260910034, 0.07411658763885498, 0.4828462600708008, 0.2707791328430176, 0.42134347558021545], "count": [1475]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.208135593220339], "std": [6.997583232821068], "count": [1475]}, "observation.tactile": {"min": [-7.663501739501953, -0.0015869140625, 0.0, -0.13195419311523438, -0.012215614318847656, -0.16213369369506836, -0.2887706756591797, -0.005615234375, -0.0010986328125, -0.07791614532470703, -0.010841846466064453, -0.00670623779296875, -0.5736083984375, -0.001373291015625, -0.0054931640625, -0.16405963897705078, -0.01688098907470703, -0.009554147720336914, -0.025241851806640625, -0.011627197265625, -0.0042724609375, -0.00041103363037109375, -0.0006742477416992188, -0.0004322528839111328, -0.0023365020751953125, -0.00323486328125, -0.00634765625, 0.0, -0.0010900497436523438, -0.00034928321838378906, -0.1089630126953125, -0.02001953125, 0.0, -0.37166500091552734, -0.045903682708740234, -0.0017113685607910156, -5.329437255859375, -0.006072998046875, -0.00054931640625, -0.17230701446533203, -0.03162717819213867, -0.10001850128173828, -0.03849029541015625, -0.00469970703125, -0.00531005859375, -0.00035858154296875, -0.0013422966003417969, -0.0006406307220458984, -0.020294189453125, -0.004608154296875, -0.0111083984375, -0.00048065185546875, -0.0011959075927734375, -0.0006382465362548828, -0.0269012451171875, -0.0047607421875, -0.0081787109375, 0.0, -0.00118255615234375, -0.0004661083221435547], "max": [0.3640861511230469, 4.642578125, 6.4136962890625, 0.0006933212280273438, 0.003920555114746094, 0.00878763198852539, 3.2207508087158203, 3.20416259765625, 6.0345458984375, 0.0022153854370117188, 0.008986949920654297, 0.054187774658203125, 3.5343017578125, 6.186492919921875, 12.11962890625, 0.0005664825439453125, 0.007636070251464844, 0.062055349349975586, 0.015071868896484375, 0.00885009765625, 0.036865234375, 0.0007190704345703125, 0.0006284713745117188, 7.963180541992188e-05, 0.016035079956054688, 0.0087738037109375, 0.0008544921875, 0.0013561248779296875, 1.2874603271484375e-05, 0.0, 5.6414642333984375, 20.484954833984375, 16.4700927734375, 0.0030145645141601562, 0.031260013580322266, 0.12244558334350586, 0.464019775390625, 9.180328369140625, 7.84393310546875, 0.0011444091796875, 0.008808612823486328, 0.014605522155761719, 0.02715301513671875, 0.01348876953125, 0.021820068359375, 0.0015468597412109375, 0.000469207763671875, 0.0, 0.0215911865234375, 0.010772705078125, 0.015869140625, 0.001049041748046875, 0.00044155120849609375, 0.0001461505889892578, 0.009235382080078125, 0.0240478515625, 0.006103515625, 0.001155853271484375, 7.963180541992188e-05, 7.295608520507812e-05], "mean": [-3.415421485900879, 2.79719877243042, 2.4050099849700928, -0.05094687268137932, -0.003263916354626417, -0.07614944130182266, 1.1160165071487427, 1.2500145435333252, 2.7825562953948975, -0.04019356518983841, -0.003628149861469865, 0.018787601962685585, 0.13043998181819916, 0.4547143280506134, 2.183969497680664, -0.03392903879284859, 0.0024098411668092012, 0.0012866731267422438, 0.0010067373514175415, -0.004032602999359369, 0.0021465339232236147, 0.00011129411723231897, -8.784601232036948e-05, -0.0002218075969722122, 0.0006387936882674694, 0.0025256348308175802, -0.0026853398885577917, 0.0004383850027807057, -0.0003090334648732096, -0.0001568330335430801, 1.1018491983413696, 2.5839173793792725, 3.276160955429077, -0.06998380273580551, -0.004807204008102417, 0.022394755855202675, -1.2229546308517456, 1.5506479740142822, 1.7523279190063477, -0.032513827085494995, -0.0012617307947948575, -0.024113165214657784, 0.002737738424912095, 0.000642751925624907, 0.00025653385091573, 0.0007181161199696362, -0.0007026497623883188, -0.0003471554664429277, 0.00403688196092844, 0.0020151843782514334, -0.0006179654155857861, 0.0003369328042026609, -0.0004088754067197442, -0.0002787753182929009, -0.0058013941161334515, 0.0011727543314918876, -0.001028452767059207, 0.0005102991708554327, -0.000264171656453982, -0.00010948334966087714], "std": [1.5538302659988403, 1.2666196823120117, 1.1163510084152222, 0.024106668308377266, 0.0019282822031527758, 0.035081133246421814, 0.7200998663902283, 0.597301721572876, 1.24822998046875, 0.019012313336133957, 0.003795948112383485, 0.012590314261615276, 0.6810908317565918, 0.7404868006706238, 1.5946779251098633, 0.022799823433160782, 0.005176709499210119, 0.011261763982474804, 0.004539675544947386, 0.001974591054022312, 0.001962322276085615, 0.00013008738460484892, 0.00010121740342583507, 6.251609738683328e-05, 0.001392438542097807, 0.0014253056142479181, 0.0011082446435466409, 0.00016409101954195648, 0.00015098642325028777, 5.178937499294989e-05, 1.5050972700119019, 3.981243133544922, 4.477658271789551, 0.09645631164312363, 0.010113542899489403, 0.02839300036430359, 1.6442573070526123, 2.090221643447876, 2.4051742553710938, 0.046237532049417496, 0.003981407266110182, 0.03261234611272812, 0.011811677366495132, 0.0014944662107154727, 0.0018783608684316278, 0.00035111026954837143, 0.00028161818045191467, 8.310207340400666e-05, 0.005246240179985762, 0.0020588424522429705, 0.0030650165863335133, 0.00026191241340711713, 0.0003442512534093112, 0.00014502961130347103, 0.008314795792102814, 0.0026895892806351185, 0.001985950395464897, 0.00015502914902754128, 0.0001590066822245717, 7.223225111374632e-05], "count": [1475]}, "timestamp": {"min": [0.0], "max": [49.13333333333333], "mean": [24.566666666666663], "std": [14.193190855711999], "count": [1475]}, "frame_index": {"min": [0], "max": [1474], "mean": [737.0], "std": [425.79572567135995], "count": [1475]}, "episode_index": {"min": [40], "max": [40], "mean": [40.0], "std": [0.0], "count": [1475]}, "index": {"min": [61750], "max": [63224], "mean": [62487.0], "std": [425.79572567135995], "count": [1475]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1475]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33267608284950256]], [[0.33186331391334534]], [[0.3315863311290741]]], "std": [[[0.20554876327514648]], [[0.20550891757011414]], [[0.20535913109779358]]], "count": [1475]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3073652386665344]], [[0.3091532588005066]], [[0.30750033259391785]]], "std": [[[0.1732759326696396]], [[0.17552293837070465]], [[0.17440102994441986]]], "count": [1475]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3083486258983612]], [[0.30767422914505005]], [[0.3064862787723541]]], "std": [[[0.17305810749530792]], [[0.1739027053117752]], [[0.17293387651443481]]], "count": [1475]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33091506361961365]], [[0.3301086723804474]], [[0.3299669921398163]]], "std": [[[0.20640431344509125]], [[0.2063927948474884]], [[0.20633073151111603]]], "count": [1475]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7529411911964417]], [[0.7529411911964417]], [[0.7529411911964417]]], "mean": [[[0.007103518582880497]], [[0.007103518582880497]], [[0.007103518582880497]]], "std": [[[0.05542666092514992]], [[0.05542666092514992]], [[0.05542666092514992]]], "count": [1475]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4734429121017456]], [[0.4734429121017456]], [[0.4734429121017456]]], "std": [[[0.1530773937702179]], [[0.1530773937702179]], [[0.1530773937702179]]], "count": [1475]}}}
+{"episode_index": 41, "stats": {"observation.state": {"min": [0.8932144045829773, -0.7904562950134277, 7.430219284287887e-06, 1.1221555471420288, -0.6329769492149353, -0.7700046896934509, 0.31460830569267273, 0.006079239305108786, -0.1985994577407837, -0.24712030589580536, -0.3170468807220459, 0.002381244208663702, 0.0031640625093132257, -0.0013428499223664403, 0.003421531757339835, 0.0008278705645352602, 0.00341918901540339, -0.0003939746820833534, 0.0035193911753594875, 0.000868221977725625, 0.00335712474770844, -0.011163041926920414, 0.003074414562433958, 0.0008509285398758948, 0.005577585659921169, 0.003261942882090807, 9.714435145724565e-05, 0.0065236021764576435, 0.0008606838528066874, 0.19203415513038635, -1.142271637916565, 0.0008412926108576357, 1.2799261808395386, -1.8915672302246094, -0.7693426012992859, -0.5274595022201538, 0.006207519676536322, -0.3196089267730713, -0.1862677037715912, -0.2815347909927368, 0.006900857202708721, 0.0031809890642762184, 9.07666253624484e-05, 0.003475070698186755, 0.000998144969344139, 0.003272982081398368, -0.00019600623636506498, 0.003397421445697546, 0.0010659886756911874, 0.0032195034436881542, -0.00015454809181392193, 0.003525418695062399, 0.0009232064476236701, 0.010470148175954819, 0.0033127230126410723, -0.0002649392990861088, 0.006813280284404755, 0.0008615707047283649, 0.5625874400138855, -1.106863021850586, 0.5247173309326172, -0.019270634278655052, 0.0001917476038215682, -0.25962623953819275, -0.7832889556884766], "max": [1.0506398677825928, -0.4973123073577881, 0.32273396849632263, 1.6601818799972534, -1.593901833985001e-05, -0.31966647505760193, 0.5200130343437195, 1.2753922939300537, 0.0010461196070536971, 0.47041189670562744, -0.0024806223809719086, 0.9507312774658203, 1.1848280429840088, 0.20882274210453033, 0.209193155169487, 0.08960246294736862, 1.2724254131317139, 0.1884852647781372, 0.011333956383168697, 0.09215524792671204, 1.1466134786605835, 0.1395050436258316, 0.025320399552583694, 0.32754185795783997, 0.05904148891568184, 0.7575734257698059, 0.19260206818580627, 0.1851293295621872, 0.16103479266166687, 1.1903640031814575, -0.47799599170684814, 0.9681607484817505, 2.0182669162750244, -0.0009765945142135024, 0.1618506759405136, 0.5190339088439941, 1.3206801414489746, 0.0015453302767127752, 0.5756621360778809, 0.3145844638347626, 0.6411776542663574, 1.4666242599487305, 0.12344102561473846, 0.10830335319042206, 0.48958808183670044, 1.4668152332305908, 0.1991087943315506, 1.6533756256103516, 1.3080527782440186, 1.466712474822998, 0.24896126985549927, 1.653728723526001, 0.970415472984314, 0.14472287893295288, 1.467821478843689, 0.18972750008106232, 1.6534578800201416, 1.308082938194275, 0.5629709362983704, -1.1065753698349, 0.544083833694458, 0.0057524279691278934, 0.03508980944752693, -9.58738019107841e-05, -0.5585607290267944], "mean": [0.9890086054801941, -0.5683733820915222, 0.1462695151567459, 1.2801817655563354, -0.5422711968421936, -0.4494572877883911, 0.48647090792655945, 1.2284317016601562, -0.1504850834608078, 0.33899441361427307, -0.3076076805591583, 0.821986198425293, 1.1317760944366455, 0.1782374531030655, 0.15226644277572632, 0.08452392369508743, 1.199371337890625, 0.15657055377960205, 0.003673052415251732, 0.08062122762203217, 1.0809389352798462, 0.07392434030771255, 0.0032004176173359156, 0.3101142346858978, 0.055560898035764694, 0.6892141103744507, 0.07463296502828598, 0.1603226512670517, 0.13849370181560516, 0.7939160466194153, -0.796467125415802, 0.5418997406959534, 1.5486207008361816, -1.2008296251296997, -0.23313124477863312, -0.18069638311862946, 1.231850266456604, -0.2669818103313446, 0.2130298763513565, -0.061020441353321075, 0.5750065445899963, 1.2460975646972656, 0.06808691471815109, 0.09624576568603516, 0.44165024161338806, 1.402169942855835, 0.14834699034690857, 1.211454153060913, 1.1302818059921265, 1.277994990348816, 0.1406509280204773, 1.4845553636550903, 0.8159475922584534, 0.10873333364725113, 1.4149088859558105, 0.10473670065402985, 1.3315129280090332, 1.0555979013442993, 0.5626826286315918, -1.106781005859375, 0.5307518839836121, -0.0060956114903092384, 0.02643764764070511, -0.10778497159481049, -0.6646944284439087], "std": [0.02602001279592514, 0.08350835740566254, 0.041562557220458984, 0.1285877525806427, 0.13158859312534332, 0.057325609028339386, 0.03459915518760681, 0.1664472222328186, 0.021652374416589737, 0.16028137505054474, 0.039356570690870285, 0.10632310807704926, 0.16120471060276031, 0.04228881001472473, 0.05291875824332237, 0.011246896348893642, 0.19716106355190277, 0.027513790875673294, 0.0003544745850376785, 0.02503938600420952, 0.17693045735359192, 0.02138102799654007, 0.0009148616227321327, 0.04926159232854843, 0.009202302433550358, 0.1061883345246315, 0.02656489424407482, 0.04018904268741608, 0.03561205789446831, 0.30374613404273987, 0.1776587814092636, 0.21807481348514557, 0.19140493869781494, 0.43824097514152527, 0.22564703226089478, 0.18957483768463135, 0.1628981977701187, 0.04855310544371605, 0.24602165818214417, 0.1614948958158493, 0.07630007714033127, 0.21137842535972595, 0.022498266771435738, 0.01287075225263834, 0.060989491641521454, 0.18681299686431885, 0.023675737902522087, 0.5729069113731384, 0.23227857053279877, 0.35600435733795166, 0.028386401012539864, 0.3492337465286255, 0.1820284128189087, 0.029229210689663887, 0.1725112348794937, 0.031244290992617607, 0.6335234045982361, 0.498323529958725, 4.1651765059214085e-05, 3.6785484553547576e-05, 0.0033534078393131495, 0.006995020899921656, 0.006018039770424366, 0.07369190454483032, 0.07223182916641235], "count": [1611]}, "observation.state.joint_torque": {"min": [-40.5629997253418, -15.637499809265137, -19.408000946044922, -14.045999526977539, -0.20399999618530273, -1.4215999841690063, 1.0, -1.1869276762008667, -0.5858226418495178, -0.8649119138717651, -0.857455849647522, -0.4233653247356415, -0.3473260700702667, -0.54881352186203, -0.25235894322395325, -0.04709119349718094, -0.46054282784461975, -0.3645963966846466, -0.04150639846920967, -0.022118592634797096, -0.46054285764694214, -0.735909104347229, -0.06807050108909607, -0.02925362065434456, -0.08004379272460938, -0.42504262924194336, -0.5171512365341187, -0.11123716086149216, -0.02425910159945488, 12.751500129699707, -7.417500019073486, 7.814000129699707, -14.14799976348877, -1.7799999713897705, -0.5527999997138977, -3.838399887084961, -1.325742244720459, -1.0875924825668335, -0.7182745933532715, -0.7518272399902344, -0.13448072969913483, -0.5459351539611816, -1.2405872344970703, -0.08301279693841934, -0.02925362065434456, -0.38762354850769043, -0.4240831732749939, -0.1411217600107193, -0.02996712550520897, -0.7483820915222168, -0.5430567264556885, -0.20753200352191925, -0.03781566023826599, -0.05497513338923454, -0.6447599530220032, -1.1398435831069946, -0.2756025195121765, -0.04138316959142685, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.191999435424805, 14.641500473022461, -10.222000122070312, 0.9559999704360962, 1.795199990272522, 1.3783999681472778, 4.236800193786621, 0.9322221279144287, 0.8519899249076843, 1.2402042150497437, 0.8785815238952637, 0.08301279693841934, 0.815544605255127, 0.680260181427002, 0.42004477977752686, 0.08633385598659515, 0.49604302644729614, 0.7167197465896606, 0.02822435460984707, 0.026399608701467514, 0.4902862012386322, 0.1515953540802002, 0.05146794021129608, 0.02425910159945488, 0.035184089094400406, 0.3770694434642792, 0.45382657647132874, 0.10791664570569992, 0.022832093760371208, 43.487998962402344, 16.72800064086914, 23.344999313354492, 0.004000000189989805, -0.009600000455975533, 3.183199882507324, 0.9327999949455261, 2.4298903942108154, 4.299428939819336, 1.742250680923462, 1.1656428575515747, 0.47317299246788025, 2.006239652633667, 0.5728000998497009, 0.9795511364936829, 0.21405088901519775, 0.4519076645374298, 0.38954249024391174, 0.20753200352191925, 0.03496164828538895, 0.7138413786888123, 0.857761025428772, 0.5545255541801453, 0.038529157638549805, 0.4908180236816406, 0.3118259012699127, 0.31182587146759033, 0.6923267841339111, 0.1277170330286026, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-29.863208770751953, 0.976832389831543, -14.567882537841797, -6.051693439483643, 0.2809542715549469, 0.4972713887691498, 1.9273678064346313, -0.01850290410220623, 0.02668003737926483, 0.21040964126586914, 0.08230526745319366, -0.002268295269459486, 0.16249699890613556, 0.11392120271921158, 0.1046353429555893, 0.03725319355726242, -0.012423613108694553, 0.05766333267092705, -0.0006492614629678428, 0.00020461679378058761, 0.009366611950099468, -0.050981536507606506, -0.0005451735923998058, -0.00031932510319165885, 0.0001706240145722404, 0.01573970541357994, 0.03784370422363281, 0.0006657592603005469, -0.0002223324845544994, 25.47594451904297, 5.885286331176758, 14.28165340423584, -7.34135627746582, -0.7145792841911316, 1.1341387033462524, -1.1540837287902832, 0.16585023701190948, 0.4838373064994812, 0.1797810047864914, 0.06705357134342194, 0.04878738895058632, 0.3617338538169861, -0.1843273639678955, 0.14759691059589386, 0.031157173216342926, 0.01986885257065296, 0.009225976653397083, 0.0014335323357954621, 0.0005686766817234457, -0.00989418476819992, 0.13674728572368622, 0.002394026843830943, -0.00018468567577656358, 0.12699025869369507, -0.015287164598703384, -0.10391516983509064, 0.00338647048920393, 0.0007228028262034059, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.8995529413223267, 1.6272199153900146, 0.8172736167907715, 0.9943023324012756, 0.24699434638023376, 0.34378620982170105, 0.3795640468597412, 0.19265885651111603, 0.14741100370883942, 0.3138402998447418, 0.17877604067325592, 0.030260302126407623, 0.15792971849441528, 0.14780384302139282, 0.10099824517965317, 0.023812849074602127, 0.12800587713718414, 0.10961320251226425, 0.003888119477778673, 0.004796629771590233, 0.11622846871614456, 0.11116832494735718, 0.004107321612536907, 0.007657553069293499, 0.007213563658297062, 0.08600006252527237, 0.0779285803437233, 0.018075641244649887, 0.007433063816279173, 5.230062484741211, 3.8442575931549072, 1.898451328277588, 2.4582173824310303, 0.30189698934555054, 0.593062698841095, 0.7232977151870728, 0.4777959883213043, 0.9503086805343628, 0.36597493290901184, 0.28769612312316895, 0.09060746431350708, 0.559553325176239, 0.33112725615501404, 0.23655198514461517, 0.047358524054288864, 0.07527247071266174, 0.08600261807441711, 0.03704332932829857, 0.005466722417622805, 0.1422048956155777, 0.2063104808330536, 0.02138568088412285, 0.007671142928302288, 0.11952247470617294, 0.09738390892744064, 0.20829947292804718, 0.024802517145872116, 0.005472836550325155, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1611]}, "observation.state.tcp": {"min": [0.3442406952381134, 0.13136781752109528, 1.0380529165267944, -1.2088382244110107, 1.066339373588562, -1.6525347232818604, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2679102420806885, -0.3306735157966614, 0.982795238494873, -0.23044869303703308, 1.023607850074768, 0.09197328984737396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4394506812095642, 0.23294107615947723, 1.1400424242019653, -0.5228354930877686, 1.4632025957107544, -1.2286988496780396, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4565676748752594, -0.09117293357849121, 1.2687256336212158, 1.2079014778137207, 2.117399215698242, 1.5755025148391724, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3968111574649811, 0.15284621715545654, 1.0636788606643677, -0.672586977481842, 1.2876651287078857, -1.4281612634658813, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3795003890991211, -0.21539078652858734, 1.1175225973129272, 0.44190511107444763, 1.5851068496704102, 0.8335098028182983, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.019820719957351685, 0.018943920731544495, 0.019293133169412613, 0.15624013543128967, 0.06443019211292267, 0.06669300049543381, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06321028620004654, 0.06395173817873001, 0.07361259311437607, 0.4159402549266815, 0.27457329630851746, 0.39551669359207153, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1611]}, "action": {"min": [0.8930205702781677, -0.7904771566390991, 1.6711243710916875e-17, 1.1213667392730713, -0.6329684853553772, -0.7699999809265137, 0.31462812423706055, 0.0, -0.1976810097694397, -0.2522812485694885, -0.3490658402442932, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.01600033789873123, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1920381486415863, -1.1424880027770996, 0.0017956631490960717, 1.2799347639083862, -1.8915231227874756, -0.7684244513511658, -0.5274711847305298, 0.0, -0.3490658402442932, -0.1861506849527359, -0.2837757468223572, 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, 0.5626833438873291, -1.1069231033325195, 0.5243492722511292, -0.020146029070019722, -2.4943217781230273e-19, -0.2597264051437378, -0.7832413911819458], "max": [1.0508983135223389, -0.4973098039627075, 0.3227161467075348, 1.660243272781372, 1.8025977811398458e-17, -0.3197363317012787, 0.5199999809265137, 1.287105679512024, 0.0, 0.47708824276924133, 0.0, 0.9550565481185913, 1.191517949104309, 0.2149600386619568, 0.21758125722408295, 0.09215383976697922, 1.2784074544906616, 0.19358009099960327, 0.01767210103571415, 0.09417667239904404, 1.1560900211334229, 0.1374937891960144, 0.030235202983021736, 0.32967185974121094, 0.07639224827289581, 0.7639224529266357, 0.19147056341171265, 0.191402405500412, 0.16382917761802673, 1.1907707452774048, -0.47792381048202515, 0.9686374068260193, 2.018409252166748, -0.003484813729301095, 0.1618412882089615, 0.5166504979133606, 1.319894790649414, 0.0, 0.5818942785263062, 0.3490658402442932, 0.6476273536682129, 1.5378708839416504, 0.12196224182844162, 0.11113912612199783, 0.4927528500556946, 1.5707963705062866, 0.19971555471420288, 1.7453292608261108, 1.352108359336853, 1.5707963705062866, 0.24832385778427124, 1.7453292608261108, 0.9728794097900391, 0.15663860738277435, 1.5707963705062866, 0.19242948293685913, 1.7453292608261108, 1.3962633609771729, 0.5627790093421936, -1.106767177581787, 0.5442397594451904, 0.0062423706986010075, 0.03550327941775322, -9.103441932862515e-18, -0.5583621263504028], "mean": [0.9890272617340088, -0.568442165851593, 0.14626944065093994, 1.2802067995071411, -0.5422653555870056, -0.44943463802337646, 0.4866199791431427, 1.2253599166870117, -0.15298454463481903, 0.3440745770931244, -0.3404477834701538, 0.8205397725105286, 1.1355220079421997, 0.18145035207271576, 0.15636441111564636, 0.088111512362957, 1.2008527517318726, 0.16079063713550568, 2.8031839974573813e-05, 0.08244635164737701, 1.0841009616851807, 0.07615643739700317, 7.035255839582533e-05, 0.31209805607795715, 0.06910788267850876, 0.6910780072212219, 0.07865244150161743, 0.16461168229579926, 0.14108774065971375, 0.7946304678916931, -0.7966456413269043, 0.5419766306877136, 1.5486353635787964, -1.200404167175293, -0.23344437777996063, -0.18068791925907135, 1.2350943088531494, -0.27277639508247375, 0.21470946073532104, -0.060636039823293686, 0.5777715444564819, 1.2560248374938965, 0.06702552735805511, 0.10057304799556732, 0.4441886842250824, 1.4874989986419678, 0.14946962893009186, 1.2210925817489624, 1.1407393217086792, 1.3467216491699219, 0.14219637215137482, 1.5575791597366333, 0.8179155588150024, 0.12491602450609207, 1.5005367994308472, 0.10453440248966217, 1.4046058654785156, 1.125889539718628, 0.5626835823059082, -1.1067851781845093, 0.5308104753494263, -0.006118163000792265, 0.026472723111510277, -0.10781040787696838, -0.6647315621376038], "std": [0.026026511564850807, 0.083625428378582, 0.04171973839402199, 0.12873025238513947, 0.1317043900489807, 0.057379599660634995, 0.034265920519828796, 0.17826902866363525, 0.024365030229091644, 0.16317330300807953, 0.04956776276230812, 0.12088127434253693, 0.17376059293746948, 0.04318791627883911, 0.05521141737699509, 0.012867175973951817, 0.20464585721492767, 0.030127687379717827, 0.0006571858539246023, 0.02596239745616913, 0.18501725792884827, 0.022223345935344696, 0.0013029294786974788, 0.05126453936100006, 0.011259603314101696, 0.1125960722565651, 0.028121769428253174, 0.041626088321208954, 0.035679757595062256, 0.30452820658683777, 0.17789475619792938, 0.21835459768772125, 0.19157342612743378, 0.4383803904056549, 0.2256709486246109, 0.1896117776632309, 0.17876456677913666, 0.06231967732310295, 0.24623319506645203, 0.16470035910606384, 0.0866648331284523, 0.22826731204986572, 0.02149401232600212, 0.015245188027620316, 0.06841825693845749, 0.22979684174060822, 0.026531754061579704, 0.5777996778488159, 0.24599139392375946, 0.3957003951072693, 0.029588254168629646, 0.3888498842716217, 0.18609489500522614, 0.03350580856204033, 0.21546897292137146, 0.0328434519469738, 0.6680746078491211, 0.5328286290168762, 5.777318619948346e-06, 2.4508592105121352e-05, 0.003432044992223382, 0.007050378248095512, 0.0061222705990076065, 0.07376675307750702, 0.07228436321020126], "count": [1611]}, "observation.state.tcp_pose": {"min": [0.3442406952381134, 0.13136781752109528, 1.0380529165267944, -1.2088382244110107, 1.066339373588562, -1.6525347232818604, 0.2679102420806885, -0.3306735157966614, 0.982795238494873, -0.23044869303703308, 1.023607850074768, 0.09197328984737396], "max": [0.4394506812095642, 0.23294107615947723, 1.1400424242019653, -0.5228354930877686, 1.4632025957107544, -1.2286988496780396, 0.4565676748752594, -0.09117293357849121, 1.2687256336212158, 1.2079014778137207, 2.117399215698242, 1.5755025148391724], "mean": [0.3968111574649811, 0.15284621715545654, 1.0636788606643677, -0.672586977481842, 1.2876651287078857, -1.4281612634658813, 0.3795003890991211, -0.21539078652858734, 1.1175225973129272, 0.44190511107444763, 1.5851068496704102, 0.8335098028182983], "std": [0.019820719957351685, 0.018943920731544495, 0.019293133169412613, 0.15624013543128967, 0.06443019211292267, 0.06669300049543381, 0.06321028620004654, 0.06395173817873001, 0.07361259311437607, 0.4159402549266815, 0.27457329630851746, 0.39551669359207153], "count": [1611]}, "action.tcp_pose": {"min": [0.34423065185546875, 0.1312672197818756, 1.037610411643982, -1.208855390548706, 1.0645928382873535, -1.6529781818389893, 0.2678264081478119, -0.3285002112388611, 0.9825812578201294, -0.23027868568897247, 1.0245747566223145, 0.09136514365673065], "max": [0.43939661979675293, 0.23296412825584412, 1.1396028995513916, -0.5225337147712708, 1.4635586738586426, -1.2289544343948364, 0.45653730630874634, -0.0911366194486618, 1.269311785697937, 1.2071894407272339, 2.11753511428833, 1.5801419019699097], "mean": [0.3968191146850586, 0.15289731323719025, 1.0636659860610962, -0.672565221786499, 1.2875522375106812, -1.4281728267669678, 0.37953951954841614, -0.21546129882335663, 1.1179395914077759, 0.44194743037223816, 1.5842571258544922, 0.8334251642227173], "std": [0.019849132746458054, 0.018993942067027092, 0.019280286505818367, 0.156033456325531, 0.0643107071518898, 0.06666567921638489, 0.06327401101589203, 0.0642092376947403, 0.07416462898254395, 0.41626855731010437, 0.2744387686252594, 0.39566633105278015], "count": [1611]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.304779639975171], "std": [7.030277394690012], "count": [1611]}, "observation.tactile": {"min": [-8.1478271484375, -0.003753662109375, -0.00018310546875, -0.12645244598388672, -0.015222549438476562, -0.1743474006652832, -2.5545501708984375, -0.002227783203125, -0.00152587890625, -0.22708606719970703, -0.016008853912353516, -0.04921364784240723, -0.6060638427734375, -0.015045166015625, -0.004638671875, -0.13155841827392578, -0.018898487091064453, -0.011039495468139648, -0.0117340087890625, -0.0037841796875, -0.00482177734375, -0.00040531158447265625, -0.0012731552124023438, -0.00042939186096191406, -0.001708984375, -0.003936767578125, -0.00396728515625, -0.000179290771484375, -0.0007715225219726562, -0.0002701282501220703, -0.8965339660644531, -0.024322509765625, 0.0, -0.44538021087646484, -0.035042762756347656, -0.018018245697021484, -5.9934539794921875, -0.00537109375, 0.0, -0.12964153289794922, -0.01829385757446289, -0.11229300498962402, -0.027345657348632812, -0.005523681640625, -0.00531005859375, -0.00039577484130859375, -0.0014095306396484375, -0.0004971027374267578, -0.007228851318359375, -0.011688232421875, -0.0146484375, -0.0002155303955078125, -0.0014276504516601562, -0.0006906986236572266, -0.022779464721679688, -0.002838134765625, -0.0052490234375, -0.00018310546875, -0.0010547637939453125, -0.0004112720489501953], "max": [0.7408447265625, 5.966552734375, 5.64752197265625, 0.001255035400390625, 0.0010004043579101562, 0.019149303436279297, 5.3419342041015625, 7.235443115234375, 15.38201904296875, 0.0011119842529296875, 0.019162654876708984, 0.09247946739196777, 3.2176666259765625, 4.4674072265625, 9.1663818359375, 0.0023488998413085938, 0.003406047821044922, 0.05692315101623535, 0.01226806640625, 0.0082550048828125, 0.00634765625, 0.00101470947265625, 0.00011920928955078125, 1.7642974853515625e-05, 0.01219940185546875, 0.004974365234375, 0.0450439453125, 0.0008792877197265625, 0.0008296966552734375, 6.961822509765625e-05, 8.368114471435547, 21.547210693359375, 19.06317138671875, 0.0028276443481445312, 0.036765098571777344, 0.17822504043579102, 0.7917022705078125, 8.42242431640625, 8.04290771484375, 0.0011692047119140625, 0.01107168197631836, 0.015972375869750977, 0.04076957702636719, 0.008453369140625, 0.01141357421875, 0.0017385482788085938, 0.00016021728515625, 0.0, 0.031490325927734375, 0.0072479248046875, 0.0103759765625, 0.0015392303466796875, 0.0002703666687011719, 0.0, 0.008771896362304688, 0.0264434814453125, 0.00592041015625, 0.0010242462158203125, 0.0001125335693359375, 2.4080276489257812e-05], "mean": [-2.6229441165924072, 2.265097141265869, 1.7922906875610352, -0.040467776358127594, -0.00433432636782527, -0.058499451726675034, 0.8643558621406555, 1.0304737091064453, 3.5981061458587646, -0.06071849167346954, -0.0020380255300551653, 0.015182966366410255, 0.09725920855998993, 0.20374064147472382, 0.3416922986507416, -0.004524570424109697, -0.0010681496933102608, 0.0013932092115283012, 0.003415497951209545, 0.002409145934507251, -0.00032476309570483863, 9.077132563106716e-05, -0.00026470294687896967, -0.00013829076488036662, 0.0022928225807845592, 0.0003690618905238807, 0.0015237572370097041, 0.00025981260114349425, -0.00026056382921524346, -0.0001008270846796222, 1.4094924926757812, 3.0260820388793945, 3.5870089530944824, -0.07959836721420288, -0.003578453790396452, 0.028240006417036057, -1.185775637626648, 1.5626046657562256, 1.7100893259048462, -0.029426755383610725, -0.0016155989142134786, -0.022639023140072823, 0.012214508838951588, 0.000523023190908134, 0.00016957998741418123, 0.0008436927455477417, -0.0007163662812672555, -0.000295420759357512, 0.00945915374904871, 7.911649299785495e-05, -0.003841805038973689, 0.0007953868480399251, -0.0007446494419127703, -0.000350301997968927, 9.79448959697038e-05, 0.001037834445014596, -0.0005747761460952461, 0.0003781629493460059, -0.0002522057038731873, -0.00011495638318592682], "std": [1.4427766799926758, 1.1328537464141846, 0.9616613984107971, 0.02208465151488781, 0.002076228614896536, 0.03225342929363251, 0.698135256767273, 0.8952240943908691, 2.1018218994140625, 0.033699389547109604, 0.0026524977292865515, 0.012452641502022743, 0.37751567363739014, 0.39216551184654236, 0.9187046885490417, 0.013225287199020386, 0.002067107241600752, 0.006297869607806206, 0.0026502266991883516, 0.0017611572984606028, 0.0015822136774659157, 0.00016948381380643696, 0.00017340152407996356, 6.737713556503877e-05, 0.001947965705767274, 0.001372303580865264, 0.0016111505683511496, 0.00014725462824571878, 0.000132447894429788, 4.5705448428634554e-05, 2.3022031784057617, 4.553237438201904, 5.1378397941589355, 0.11583840847015381, 0.009148025885224342, 0.04397145286202431, 1.7425097227096558, 2.391590118408203, 2.472956895828247, 0.04133331775665283, 0.004041043575853109, 0.03298025578260422, 0.009149336256086826, 0.0015154042048379779, 0.0017896473873406649, 0.0003436781989876181, 0.00028120132628828287, 6.91906752763316e-05, 0.00558355962857604, 0.0018383407732471824, 0.0029367958195507526, 0.00028904021019116044, 0.000312685762764886, 0.00011438276123953983, 0.003999429289251566, 0.0012213762383908033, 0.0018958993023261428, 0.00020662916358560324, 0.0001983593392651528, 7.161591929616407e-05], "count": [1611]}, "timestamp": {"min": [0.0], "max": [53.666666666666664], "mean": [26.833333333333332], "std": [15.501851741240701], "count": [1611]}, "frame_index": {"min": [0], "max": [1610], "mean": [805.0], "std": [465.0555522372211], "count": [1611]}, "episode_index": {"min": [41], "max": [41], "mean": [41.0], "std": [0.0], "count": [1611]}, "index": {"min": [63225], "max": [64835], "mean": [64030.0], "std": [465.0555522372211], "count": [1611]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1611]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33723893761634827]], [[0.33641356229782104]], [[0.33636602759361267]]], "std": [[[0.21085603535175323]], [[0.21084341406822205]], [[0.21089942753314972]]], "count": [1611]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30486351251602173]], [[0.3057832717895508]], [[0.3034344017505646]]], "std": [[[0.17075364291667938]], [[0.1728724241256714]], [[0.17155204713344574]]], "count": [1611]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30794909596443176]], [[0.30716729164123535]], [[0.30587297677993774]]], "std": [[[0.17301848530769348]], [[0.17377392947673798]], [[0.17274892330169678]]], "count": [1611]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33567014336586]], [[0.3348594009876251]], [[0.33496394753456116]]], "std": [[[0.21158917248249054]], [[0.2116187959909439]], [[0.2117397040128708]]], "count": [1611]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7686274647712708]], [[0.7686274647712708]], [[0.7686274647712708]]], "mean": [[[0.007142100483179092]], [[0.007142100483179092]], [[0.007142100483179092]]], "std": [[[0.05729088559746742]], [[0.05729088559746742]], [[0.05729088559746742]]], "count": [1611]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[0.9647058844566345]], [[0.9647058844566345]], [[0.9647058844566345]]], "mean": [[[0.474224328994751]], [[0.474224328994751]], [[0.474224328994751]]], "std": [[[0.15228858590126038]], [[0.15228858590126038]], [[0.15228858590126038]]], "count": [1611]}}}
+{"episode_index": 42, "stats": {"observation.state": {"min": [0.7997375726699829, -0.7798824906349182, 0.00013206615403760225, 1.0548429489135742, -0.6959733366966248, -0.7697508335113525, 0.39359214901924133, 0.007643721532076597, -0.20007020235061646, -0.1688370406627655, -0.317510724067688, 0.00250640488229692, 0.0031812344677746296, -0.00023084061103872955, 0.0034885441418737173, 0.0008602404268458486, 0.003922819159924984, -0.0007057689363136888, 0.003490316914394498, 0.0008513719658367336, 0.0033482934813946486, 0.0001336962595814839, 0.0030556228011846542, 0.000859353574924171, 0.005961840972304344, 0.003214351600036025, 0.00012903535389341414, 0.006539203226566315, 0.0008699956815689802, 0.0001814944262150675, -1.1356141567230225, 0.0009121193434111774, 1.2135659456253052, -1.85872220993042, -0.7693078517913818, -0.5997634530067444, 0.006375730503350496, -0.32227882742881775, -0.16127605736255646, -0.3158668875694275, 0.00687958300113678, 0.0031567029654979706, -0.1250300407409668, 0.0034874803386628628, 0.0012114313431084156, 0.005866197869181633, 0.00041090123704634607, 0.003414086066186428, 0.0016792424721643329, 0.003283775644376874, -0.0015842389548197389, 0.0035296734422445297, 0.0016340132569894195, 0.005662143230438232, 0.005604938603937626, -0.00030492510995827615, 0.006863982882350683, 0.0008358521736226976, 0.5622039437294006, -1.1070547103881836, 0.5027621984481812, -0.012559467926621437, 0.0001917476038215682, -0.17468206584453583, -0.8517428040504456], "max": [1.0499550104141235, -0.4429396092891693, 0.3504990339279175, 1.5696699619293213, -0.00014596784603781998, -0.2615680694580078, 0.6981456875801086, 1.2566981315612793, -2.8908407330163755e-05, 0.5850167870521545, -0.00246168184094131, 0.9372305274009705, 1.2482362985610962, 0.22597824037075043, 0.2002868950366974, 0.08984058350324631, 1.313638687133789, 0.20321612060070038, 0.03385649994015694, 0.11198379099369049, 1.1598341464996338, 0.13044480979442596, 0.09665561467409134, 0.3321986794471741, 0.059200968593358994, 0.8023081421852112, 0.17689581215381622, 0.12691932916641235, 0.11012408137321472, 1.154729962348938, -0.4592454135417938, 1.1045126914978027, 1.9593900442123413, -0.0010041581699624658, 0.18127529323101044, 0.5190805196762085, 1.335425615310669, 0.0011776528554037213, 0.7337071299552917, 0.3130913972854614, 0.626027524471283, 1.4647647142410278, 0.1091533750295639, 0.11050377786159515, 0.489493191242218, 1.4667942523956299, 0.2130514234304428, 1.6534110307693481, 1.0907001495361328, 1.4668998718261719, 0.23393532633781433, 1.6537797451019287, 0.8779103755950928, 0.14659813046455383, 1.4671125411987305, 0.2056601345539093, 1.6534539461135864, 1.3081001043319702, 0.5629709362983704, -1.1065753698349, 0.5439879298210144, 0.003930825740098953, 0.034322820603847504, -9.58738019107841e-05, -0.5905826091766357], "mean": [0.9651153683662415, -0.4901493191719055, 0.1789998859167099, 1.1365424394607544, -0.5713240504264832, -0.4174136221408844, 0.5459500551223755, 1.198845386505127, -0.15522819757461548, 0.45103737711906433, -0.3093022108078003, 0.7834243178367615, 1.19203782081604, 0.19641248881816864, 0.09211229532957077, 0.08508798480033875, 1.2531273365020752, 0.17975740134716034, 0.003964397124946117, 0.09806854277849197, 1.1053327322006226, 0.09438833594322205, 0.004410945810377598, 0.3202022314071655, 0.05772928521037102, 0.7379791736602783, 0.128564715385437, 0.09492822736501694, 0.08127956092357635, 0.8374326229095459, -0.7681620121002197, 0.5208061337471008, 1.5063122510910034, -1.2857931852340698, -0.168360635638237, -0.24993784725666046, 1.2574971914291382, -0.2505824863910675, 0.28023576736450195, -0.1267957091331482, 0.5723793506622314, 1.2536357641220093, 0.06232042983174324, 0.09709253907203674, 0.4089928865432739, 1.3917163610458374, 0.14734341204166412, 1.3922898769378662, 1.0003019571304321, 1.3750019073486328, 0.14327527582645416, 1.4565162658691406, 0.8177065253257751, 0.10836851596832275, 1.418691635131836, 0.10778189450502396, 1.440238118171692, 1.1405121088027954, 0.5626890659332275, -1.1067782640457153, 0.5075257420539856, -0.007353457156568766, 0.02845699153840542, -0.0746038556098938, -0.707611620426178], "std": [0.03576651215553284, 0.07517418265342712, 0.04236189275979996, 0.1112952008843422, 0.14301303029060364, 0.05407397821545601, 0.05240768566727638, 0.1356133669614792, 0.018569959327578545, 0.16986490786075592, 0.03378845378756523, 0.08869566768407822, 0.14466628432273865, 0.034889888018369675, 0.0436636246740818, 0.009666720405220985, 0.17820927500724792, 0.025687143206596375, 0.0026720273308455944, 0.022506944835186005, 0.15022780001163483, 0.020160548388957977, 0.00985231064260006, 0.040130700916051865, 0.006344339810311794, 0.09943201392889023, 0.03733522817492485, 0.02799179218709469, 0.024352379143238068, 0.30388107895851135, 0.18828237056732178, 0.17936919629573822, 0.207367941737175, 0.3765290677547455, 0.19892016053199768, 0.18645086884498596, 0.13569828867912292, 0.0537831149995327, 0.23543977737426758, 0.134165957570076, 0.06736686825752258, 0.1926242560148239, 0.04742010310292244, 0.012265735305845737, 0.07178332656621933, 0.16495558619499207, 0.030211741104722023, 0.5048192739486694, 0.17549744248390198, 0.2201964110136032, 0.024342240765690804, 0.5050588250160217, 0.12113378196954727, 0.025776559486985207, 0.16151970624923706, 0.022585002705454826, 0.5347122550010681, 0.4212628901004791, 4.8115645768120885e-05, 4.0355833334615454e-05, 0.005317123606801033, 0.005578738637268543, 0.005498098209500313, 0.04260878264904022, 0.08676397800445557], "count": [2043]}, "observation.state.joint_torque": {"min": [-44.834999084472656, -12.36299991607666, -21.03700065612793, -16.027999877929688, -0.4952000081539154, -0.9151999950408936, 1.1535999774932861, -1.353759765625, -0.49412867426872253, -0.8934938311576843, -0.8698826432228088, -0.41838452219963074, -0.38474515080451965, -1.0678837299346924, -0.167685866355896, -0.045664187520742416, -0.4528671205043793, -0.3550017774105072, -0.1411217600107193, -0.021405089646577835, -0.7589362263679504, -1.2741684913635254, -0.11787818372249603, -0.02925362065434456, -0.0941174328327179, -0.48165103793144226, -0.5420973300933838, -0.10293588042259216, -0.027826614677906036, 2.447999954223633, -5.936999797821045, 0.8399999737739563, -13.0600004196167, -2.1080000400543213, -3.1335999965667725, -2.7360000610351562, -1.4671036005020142, -0.9131191968917847, -1.2861837148666382, -0.6611108779907227, -0.13614100217819214, -1.2636144161224365, -1.2329115867614746, -0.49143579602241516, -0.09703640639781952, -0.5161917805671692, -0.520029604434967, -0.25899994373321533, -0.033534638583660126, -0.8203418850898743, -0.626530110836029, -0.3287307322025299, -0.027826614677906036, -0.08136319369077682, -0.6620303392410278, -1.037180781364441, -0.24903841316699982, -0.03781566023826599, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.076499938964844, 11.809499740600586, -9.409000396728516, -0.44699999690055847, 1.7727999687194824, 1.4335999488830566, 6.660799980163574, 1.344844937324524, 2.213390827178955, 1.5421777963638306, 1.3818708658218384, 0.34201276302337646, 1.2808847427368164, 0.6409221291542053, 0.7255319356918335, 0.14270058274269104, 0.4970024824142456, 0.5008403062820435, 0.05644870921969414, 0.06064775213599205, 0.8721529841423035, 0.16886571049690247, 0.07139100879430771, 0.03139413148164749, 0.0725671797990799, 0.37323158979415894, 0.35883963108062744, 0.13116022944450378, 0.039956167340278625, 41.278499603271484, 18.983999252319336, 25.06800079345703, -0.04500000178813934, 0.20720000565052032, 4.007999897003174, 1.8871999979019165, 2.4910197257995605, 4.519748687744141, 2.1013879776000977, 1.3682011365890503, 0.5794293284416199, 2.148240327835083, 1.4698991775512695, 1.0559228658676147, 0.21405088901519775, 0.49124568700790405, 0.4471103250980377, 0.20089100301265717, 0.04923170804977417, 0.5718407034873962, 1.1379245519638062, 0.27726277709007263, 0.025686107575893402, 0.49213743209838867, 0.44423195719718933, 0.3367719352245331, 0.34699350595474243, 0.05922074615955353, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-31.992721557617188, -0.21084560453891754, -14.026947021484375, -6.682699203491211, 0.18034178018569946, 0.4427478015422821, 2.252851963043213, -0.05859845131635666, 0.17116157710552216, 0.37306225299835205, 0.2353399693965912, 0.04744282737374306, 0.4315442740917206, -0.0817418172955513, 0.20399624109268188, 0.06657574325799942, 0.03262650594115257, 0.07265635579824448, -0.0006785671575926244, 0.010647002607584, 0.015038316138088703, -0.1606401801109314, -0.00044208436156623065, 0.0001176955847768113, -2.927695823018439e-05, 0.03386402502655983, 0.03548051416873932, -0.002023514127358794, -0.0008521527051925659, 25.74690055847168, 5.033210754394531, 13.735161781311035, -6.87493896484375, -0.6802070736885071, 1.0943623781204224, -0.973617672920227, 0.3206903338432312, 0.7107523083686829, 0.1766175776720047, 0.11049169301986694, 0.038080256432294846, 0.43278518319129944, -0.17086711525917053, 0.20525720715522766, 0.04164721071720123, 0.0009796455269679427, -0.0031878859736025333, 0.005565900355577469, 0.0018890530336648226, 0.006238183006644249, 0.13326780498027802, 0.0011279677273705602, -0.0011664704652503133, 0.21099916100502014, -0.007786584086716175, -0.143374964594841, 0.0016756984405219555, 0.00020710121316369623, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [3.0203988552093506, 2.7913730144500732, 1.45652174949646, 2.187426805496216, 0.25740131735801697, 0.42994460463523865, 0.9157532453536987, 0.2893584072589874, 0.41539111733436584, 0.3659716546535492, 0.2737797796726227, 0.06567289680242538, 0.24475683271884918, 0.30796411633491516, 0.13902372121810913, 0.03513960540294647, 0.116437628865242, 0.10583032667636871, 0.006294599734246731, 0.012633715756237507, 0.1660618931055069, 0.23967644572257996, 0.006264453288167715, 0.005546558182686567, 0.0057964446023106575, 0.08294234424829483, 0.08101671189069748, 0.01753377728164196, 0.006674503907561302, 5.809946060180664, 4.350464344024658, 2.4659509658813477, 2.1134402751922607, 0.35243621468544006, 0.7536200881004333, 0.7252865433692932, 0.7502042651176453, 1.169904351234436, 0.3678005337715149, 0.2894720435142517, 0.09403453767299652, 0.6528526544570923, 0.3896067142486572, 0.32561519742012024, 0.06123828887939453, 0.09010554105043411, 0.1039583683013916, 0.03641310706734657, 0.005481874570250511, 0.1455826461315155, 0.24761630594730377, 0.017746025696396828, 0.007062649354338646, 0.1720314621925354, 0.1319696456193924, 0.2034880369901657, 0.018684303387999535, 0.003821774385869503, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2043]}, "observation.state.tcp": {"min": [0.35828664898872375, 0.12529148161411285, 1.0206948518753052, -1.208739995956421, 0.971117377281189, -1.8271586894989014, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2359437495470047, -0.3271438479423523, 0.9815374612808228, -0.23711852729320526, 1.0308505296707153, -0.07656750082969666, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.43186476826667786, 0.24126122891902924, 1.1269521713256836, -0.4632818102836609, 1.5173959732055664, -1.228528380393982, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.45281195640563965, -0.09990215301513672, 1.288375735282898, 1.2075427770614624, 2.1249899864196777, 1.5598891973495483, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4074898958206177, 0.15401199460029602, 1.0606729984283447, -0.640808641910553, 1.2258518934249878, -1.4177429676055908, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3810979127883911, -0.20172858238220215, 1.1328456401824951, 0.3421551585197449, 1.6404798030853271, 0.7653490304946899, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.017827844247221947, 0.018339315429329872, 0.01370407734066248, 0.1504717916250229, 0.08082491159439087, 0.10420010983943939, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06749135255813599, 0.06955195963382721, 0.08265052735805511, 0.3870469629764557, 0.241970494389534, 0.40217554569244385, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [2043]}, "action": {"min": [0.7997003197669983, -0.7799999713897705, -8.136119553750141e-18, 1.0548197031021118, -0.6959585547447205, -0.7699999809265137, 0.3934950828552246, 0.0, -0.1983519196510315, -0.17540009319782257, -0.3490658402442932, 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, -1.1363855600357056, 0.0009905325714498758, 1.2134836912155151, -1.8596829175949097, -0.7691421508789062, -0.5999241471290588, 0.0, -0.3490658402442932, -0.16544194519519806, -0.3344929814338684, 0.0, 0.0, -0.1249128058552742, 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, 0.5626833438873291, -1.1069231033325195, 0.5025118589401245, -0.012921306304633617, -9.118780136165933e-19, -0.1751517504453659, -0.8520858883857727], "max": [1.0499999523162842, -0.44295331835746765, 0.35051995515823364, 1.5700000524520874, -9.629514740375827e-18, -0.2614518404006958, 0.7521414756774902, 1.2625620365142822, 0.0, 0.5939392447471619, 0.0, 0.9432448744773865, 1.2540686130523682, 0.22473901510238647, 0.20693789422512054, 0.09134860336780548, 1.3220767974853516, 0.2078651785850525, 0.039685674011707306, 0.11474156379699707, 1.1644701957702637, 0.128673255443573, 0.10579953342676163, 0.33663225173950195, 0.08129136264324188, 0.812913715839386, 0.17363804578781128, 0.13328376412391663, 0.11435823142528534, 1.154721736907959, -0.45920416712760925, 1.1087734699249268, 1.959594488143921, -0.0015629517147317529, 0.18168745934963226, 0.5186530947685242, 1.3372478485107422, 0.0, 0.7413324117660522, 0.3490658402442932, 0.6333422660827637, 1.5707963705062866, 0.11170380562543869, 0.11154522001743317, 0.4939035475254059, 1.5707963705062866, 0.21371310949325562, 1.7453292608261108, 1.0958375930786133, 1.5707963705062866, 0.23662728071212769, 1.7453292608261108, 0.8792588710784912, 0.1487673670053482, 1.5707963705062866, 0.20941239595413208, 1.7453292608261108, 1.3962633609771729, 0.5627791881561279, -1.106767177581787, 0.5442397594451904, 0.004207635764032602, 0.03484887257218361, -2.2106323288321472e-18, -0.5845495462417603], "mean": [0.9651703834533691, -0.4901619851589203, 0.1790217012166977, 1.1366512775421143, -0.5714293718338013, -0.4174569547176361, 0.5476999878883362, 1.1964244842529297, -0.15358015894889832, 0.4568426311016083, -0.3402658700942993, 0.7875992059707642, 1.1992385387420654, 0.19640527665615082, 0.09522987902164459, 0.08831964433193207, 1.255401372909546, 0.18318478763103485, 0.00044313957914710045, 0.10035908967256546, 1.108568549156189, 0.09567950665950775, 0.0013830463867634535, 0.3216697573661804, 0.07426078617572784, 0.742607593536377, 0.13036701083183289, 0.09778673201799393, 0.08381025493144989, 0.8381167054176331, -0.7684271335601807, 0.5207511782646179, 1.5061993598937988, -1.2853953838348389, -0.16857358813285828, -0.25006142258644104, 1.2602118253707886, -0.2510523498058319, 0.2815355956554413, -0.12702052295207977, 0.574624240398407, 1.2670577764511108, 0.06061774864792824, 0.10013023018836975, 0.4118649959564209, 1.4670114517211914, 0.14726193249225616, 1.4206719398498535, 1.0023772716522217, 1.4422258138656616, 0.1441771537065506, 1.5359153747558594, 0.8189821839332581, 0.12500929832458496, 1.5132389068603516, 0.10665077716112137, 1.5189050436019897, 1.2168477773666382, 0.5626898407936096, -1.1067808866500854, 0.5075808763504028, -0.007383034564554691, 0.028495099395513535, -0.07463205605745316, -0.7076740860939026], "std": [0.03571226820349693, 0.07523107528686523, 0.04243501275777817, 0.1115712970495224, 0.14296767115592957, 0.05420635640621185, 0.05765342339873314, 0.14865237474441528, 0.020624268800020218, 0.17150063812732697, 0.04324519634246826, 0.10407520085573196, 0.15763625502586365, 0.0358080118894577, 0.04492603987455368, 0.011195561848580837, 0.18757787346839905, 0.028823738917708397, 0.0034157675690948963, 0.022860148921608925, 0.15999899804592133, 0.020523222163319588, 0.01060759462416172, 0.04376360774040222, 0.010770398192107677, 0.10770399868488312, 0.03779491037130356, 0.0287114717066288, 0.024605119600892067, 0.30533257126808167, 0.18866993486881256, 0.18017461895942688, 0.20731858909130096, 0.37647905945777893, 0.19903461635112762, 0.18656176328659058, 0.1497488170862198, 0.0652710497379303, 0.23641347885131836, 0.13903354108333588, 0.07694929838180542, 0.21251356601715088, 0.046698492020368576, 0.013641605153679848, 0.07658947259187698, 0.212479367852211, 0.03219660371541977, 0.5194523334503174, 0.18175065517425537, 0.25656649470329285, 0.026059946045279503, 0.5353108644485474, 0.1275997906923294, 0.027695367112755775, 0.20262689888477325, 0.023120485246181488, 0.565622091293335, 0.45082801580429077, 7.98493783804588e-06, 2.054753713309765e-05, 0.0054876129142940044, 0.005617601331323385, 0.005650397390127182, 0.04266130179166794, 0.08682455122470856], "count": [2043]}, "observation.state.tcp_pose": {"min": [0.35828664898872375, 0.12529148161411285, 1.0206948518753052, -1.208739995956421, 0.971117377281189, -1.8271586894989014, 0.2359437495470047, -0.3271438479423523, 0.9815374612808228, -0.23711852729320526, 1.0308505296707153, -0.07656750082969666], "max": [0.43186476826667786, 0.24126122891902924, 1.1269521713256836, -0.4632818102836609, 1.5173959732055664, -1.228528380393982, 0.45281195640563965, -0.09990215301513672, 1.288375735282898, 1.2075427770614624, 2.1249899864196777, 1.5598891973495483], "mean": [0.4074898958206177, 0.15401199460029602, 1.0606729984283447, -0.640808641910553, 1.2258518934249878, -1.4177429676055908, 0.3810979127883911, -0.20172858238220215, 1.1328456401824951, 0.3421551585197449, 1.6404798030853271, 0.7653490304946899], "std": [0.017827844247221947, 0.018339315429329872, 0.01370407734066248, 0.1504717916250229, 0.08082491159439087, 0.10420010983943939, 0.06749135255813599, 0.06955195963382721, 0.08265052735805511, 0.3870469629764557, 0.241970494389534, 0.40217554569244385], "count": [2043]}, "action.tcp_pose": {"min": [0.3582881689071655, 0.126199409365654, 1.022768497467041, -1.208855390548706, 0.9624427556991577, -1.829854965209961, 0.23656065762043, -0.32787737250328064, 0.9815838932991028, -0.2390526682138443, 1.0244500637054443, -0.07695472985506058], "max": [0.4323064088821411, 0.24096769094467163, 1.1271525621414185, -0.4628123939037323, 1.5170879364013672, -1.2289544343948364, 0.4529927372932434, -0.09964168816804886, 1.291776180267334, 1.2083836793899536, 2.1258480548858643, 1.5740439891815186], "mean": [0.40744540095329285, 0.1540279984474182, 1.0608032941818237, -0.6395978331565857, 1.2242228984832764, -1.4185045957565308, 0.3811533749103546, -0.20188595354557037, 1.1331900358200073, 0.34230175614356995, 1.6399002075195312, 0.7648282647132874], "std": [0.018018754199147224, 0.018232174217700958, 0.013660512864589691, 0.14931601285934448, 0.08402347564697266, 0.10597142577171326, 0.0676361545920372, 0.0699150487780571, 0.08289360255002975, 0.3874472975730896, 0.24143345654010773, 0.40254226326942444], "count": [2043]}, "subtask_index": {"min": [0], "max": [21], "mean": [10.771904062652961], "std": [6.799042117224643], "count": [2043]}, "observation.tactile": {"min": [-8.030670166015625, -0.006561279296875, -0.0018310546875, -0.27808666229248047, -0.04191780090332031, -0.17385601997375488, -0.3593101501464844, -0.011016845703125, -0.00360107421875, -0.3832845687866211, -0.012842655181884766, -0.010398626327514648, -0.1148834228515625, -0.00946044921875, -0.0076904296875, -0.08823490142822266, -0.012556076049804688, -0.004274606704711914, -0.007221221923828125, -0.00860595703125, -0.0042724609375, -0.0006036758422851562, -0.0009055137634277344, -0.0004246234893798828, -0.001483917236328125, -0.0057373046875, -0.00213623046875, -0.000209808349609375, -0.000782012939453125, -0.0002474784851074219, -2.7762184143066406, -0.0299072265625, 0.0, -0.4896078109741211, -0.05860424041748047, -0.06732392311096191, -8.986289978027344, -0.008148193359375, -0.0372314453125, -0.27287960052490234, -0.05004453659057617, -0.14382624626159668, -0.018754959106445312, -0.00482177734375, -0.004638671875, -0.00036144256591796875, -0.0011916160583496094, -0.0005114078521728516, -0.016094207763671875, -0.0078125, -0.00775146484375, -0.0005359649658203125, -0.0010919570922851562, -0.0005807876586914062, -0.02062225341796875, -0.004913330078125, -0.0048828125, -0.0003299713134765625, -0.0012907981872558594, -0.0005614757537841797], "max": [0.01068115234375, 10.52911376953125, 10.84698486328125, 0.0011615753173828125, 0.0043468475341796875, 0.00048804283142089844, 7.064273834228516, 13.884063720703125, 25.37481689453125, 0.0021638870239257812, 0.046102046966552734, 0.1156771183013916, 3.4910736083984375, 3.3817138671875, 6.45587158203125, 0.0013675689697265625, 0.020730972290039062, 0.053663015365600586, 0.014430999755859375, 0.0044097900390625, 0.0147705078125, 0.00066375732421875, 0.0003886222839355469, 8.106231689453125e-06, 0.047855377197265625, 0.0111541748046875, 0.007080078125, 0.0011539459228515625, 0.0002269744873046875, 0.0004870891571044922, 6.848781585693359, 26.8912353515625, 25.96966552734375, 0.0014705657958984375, 0.02905750274658203, 0.15099883079528809, 1.3926162719726562, 11.461578369140625, 13.207275390625, 0.008172035217285156, 0.020908832550048828, 0.03113102912902832, 0.03791618347167969, 0.004425048828125, 0.00958251953125, 0.0011844635009765625, 6.914138793945312e-05, 0.0, 0.4061431884765625, 0.132476806640625, 0.098876953125, 0.0017881393432617188, 0.00206756591796875, 0.008888721466064453, 0.01277923583984375, 0.0091705322265625, 0.018798828125, 0.0012874603271484375, 0.00031828880310058594, 7.724761962890625e-05], "mean": [-5.305570602416992, 5.294600963592529, 4.360474109649658, -0.10488799959421158, -0.009021546691656113, -0.11592108011245728, 2.398786783218384, 2.712573289871216, 7.701779365539551, -0.11457861959934235, 0.003434201702475548, 0.03930986300110817, 0.25229543447494507, 0.5006399154663086, 1.1570745706558228, -0.014378079213202, 0.0019549329299479723, 0.004249890800565481, 0.004493870306760073, -0.002839994616806507, 0.0005592648521997035, -3.0886349122738466e-05, -6.233309977687895e-05, -0.00013700390991289169, 0.0048700668849051, -0.0004032936121802777, 0.0022572253365069628, 0.0003083957708440721, -0.0002844806294888258, -8.217937283916399e-05, 1.3271934986114502, 5.271481990814209, 5.51928186416626, -0.11828728020191193, -0.005318311508744955, 0.02775452472269535, -1.6233631372451782, 2.1715590953826904, 2.822133779525757, -0.04824350029230118, -0.0003849313943646848, -0.030091077089309692, 0.01385433878749609, -5.985508323647082e-05, 0.0010782877216115594, 0.0004682937578763813, -0.0005597008857876062, -0.0003131727280560881, 0.00683100800961256, 0.001852385583333671, 0.0016253336798399687, 0.0005734402220696211, -0.00042913571815006435, -0.0002389347500866279, -0.00011076906230300665, 0.00027358270017430186, 0.000792082748375833, 0.00042371335439383984, -0.0002057631645584479, -0.00010052388824988157], "std": [2.1340060234069824, 2.4482784271240234, 2.214055299758911, 0.057615358382463455, 0.006673240102827549, 0.0457955002784729, 1.5238661766052246, 2.8865551948547363, 5.211313724517822, 0.0793556272983551, 0.00774246733635664, 0.02498537302017212, 0.4456748068332672, 0.5459216833114624, 1.2116026878356934, 0.013417162001132965, 0.004410441033542156, 0.006492662243545055, 0.0022330398205667734, 0.0016498747281730175, 0.0016853220295161009, 0.00012110652460251004, 9.8265110864304e-05, 4.7979359806049615e-05, 0.004239903762936592, 0.0014677847502753139, 0.0012694097822532058, 0.00016094274178612977, 0.0001236537063959986, 5.608406354440376e-05, 1.7698547840118408, 7.554795742034912, 7.6297736167907715, 0.16024963557720184, 0.010405906476080418, 0.03988507017493248, 2.334648370742798, 2.99709153175354, 4.014477729797363, 0.0725778266787529, 0.006913060322403908, 0.04342861846089363, 0.008176172152161598, 0.0011847942369058728, 0.0018111251993104815, 0.0002992049267049879, 0.00022710095799993724, 7.752269448246807e-05, 0.013561500236392021, 0.004512474872171879, 0.003480812069028616, 0.00020371016580611467, 0.00023149693151935935, 0.00029654803802259266, 0.0036562103778123856, 0.0014683811459690332, 0.0017968954052776098, 0.0001886603859020397, 0.00019752612570300698, 7.157726213335991e-05], "count": [2043]}, "timestamp": {"min": [0.0], "max": [68.06666666666666], "mean": [34.03333333333333], "std": [19.65877431091286], "count": [2043]}, "frame_index": {"min": [0], "max": [2042], "mean": [1021.0], "std": [589.7632293273858], "count": [2043]}, "episode_index": {"min": [42], "max": [42], "mean": [42.0], "std": [0.0], "count": [2043]}, "index": {"min": [64836], "max": [66878], "mean": [65857.0], "std": [589.7632293273858], "count": [2043]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [2043]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.336456835269928]], [[0.3356984555721283]], [[0.335681289434433]]], "std": [[[0.21176664531230927]], [[0.2117205709218979]], [[0.21178974211215973]]], "count": [2043]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30507612228393555]], [[0.30691370368003845]], [[0.30507707595825195]]], "std": [[[0.17188112437725067]], [[0.1741889864206314]], [[0.17298097908496857]]], "count": [2043]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.31024831533432007]], [[0.3092641532421112]], [[0.30626729130744934]]], "std": [[[0.17461909353733063]], [[0.17516453564167023]], [[0.17285366356372833]]], "count": [2043]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3366260826587677]], [[0.33585500717163086]], [[0.3360186219215393]]], "std": [[[0.21309509873390198]], [[0.21308259665966034]], [[0.21324993669986725]]], "count": [2043]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8392156958580017]], [[0.8392156958580017]], [[0.8392156958580017]]], "mean": [[[0.010879921726882458]], [[0.010879921726882458]], [[0.010879921726882458]]], "std": [[[0.07261938601732254]], [[0.07261938601732254]], [[0.07261938601732254]]], "count": [2043]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4735340476036072]], [[0.4735340476036072]], [[0.4735340476036072]]], "std": [[[0.15278753638267517]], [[0.15278753638267517]], [[0.15278753638267517]]], "count": [2043]}}}
+{"episode_index": 43, "stats": {"observation.state": {"min": [0.7988472580909729, -0.7800089716911316, 8.508799510309473e-06, 1.0889835357666016, -0.6666370034217834, -0.7699918150901794, 0.40770334005355835, 0.007668654900044203, -0.19480650126934052, -0.14509396255016327, -0.31670084595680237, 0.002448256593197584, 0.0031625907868146896, -0.00023108581081032753, 0.0034119586925953627, 0.000850485113915056, 0.003922083415091038, -0.0006380621925927699, 0.00350379035808146, 0.0008314179140143096, 0.003305118065327406, -0.0012844337616115808, 0.003042858559638262, 0.000863787776324898, 0.004799442365765572, 0.00326660368591547, -0.0008600606815889478, 0.006565086077898741, 0.0008544759475626051, 0.012627644464373589, -1.0914280414581299, 0.0023278158623725176, 1.2558952569961548, -1.7839738130569458, -0.7679238319396973, -0.5442579388618469, 0.010508355684578419, -0.32028359174728394, -0.17095592617988586, -0.2935151755809784, 0.006864691618829966, 0.008845293894410133, -0.0003770231851376593, 0.003478970844298601, 0.0011888168519362807, 0.012522554025053978, -0.00015111354878172278, 0.003397421445697546, 0.003207721281796694, 0.005084381904453039, -0.0019347929628565907, 0.0059495652094483376, 0.0022148971911519766, 0.01026357151567936, 0.020910091698169708, -6.034850230207667e-05, 0.006815762259066105, 0.000870439107529819, 0.5622039437294006, -1.1070547103881836, 0.5042003393173218, -0.007765777874737978, 0.00028762139845639467, -0.16461531817913055, -0.8368824124336243], "max": [1.0500143766403198, -0.4761267304420471, 0.35316455364227295, 1.5699760913848877, -7.550061582151102e-06, -0.3183533847332001, 0.6164436936378479, 1.2433347702026367, -5.56489649170544e-05, 0.5958520174026489, -0.0022785284090787172, 0.9922349452972412, 1.198299527168274, 0.2230018824338913, 0.20909565687179565, 0.08899763226509094, 1.2866719961166382, 0.187004953622818, 0.06795835494995117, 0.19850225746631622, 1.103855013847351, 0.10743559896945953, 0.04836875572800636, 0.3188920021057129, 0.06186078488826752, 0.7129706144332886, 0.13044680655002594, 0.08153209090232849, 0.06851770728826523, 1.3044708967208862, -0.407729834318161, 1.121748447418213, 1.9860179424285889, -0.0024661137722432613, 0.16234321892261505, 0.5175896883010864, 1.3328807353973389, 0.000895615725312382, 0.6400342583656311, 0.3150573968887329, 0.6304982304573059, 1.462907075881958, 0.10232295840978622, 0.10637134313583374, 0.4868854284286499, 1.4667271375656128, 0.20851115882396698, 1.6533656120300293, 1.2156248092651367, 1.4670097827911377, 0.24331779778003693, 1.6536890268325806, 0.9704216718673706, 0.13955844938755035, 1.4666839838027954, 0.19667233526706696, 1.6533936262130737, 1.3080708980560303, 0.5629709362983704, -1.1065753698349, 0.5438920855522156, 0.008628642186522484, 0.03739078342914581, 0.004697815980762243, -0.5612452030181885], "mean": [0.9472745656967163, -0.5414869785308838, 0.1814415156841278, 1.2454814910888672, -0.5491665601730347, -0.4510664641857147, 0.5489242672920227, 1.2013617753982544, -0.15514187514781952, 0.4565572738647461, -0.308504194021225, 0.798717737197876, 1.1521519422531128, 0.19597773253917694, 0.12464351952075958, 0.08327311277389526, 1.214821219444275, 0.1711055040359497, 0.0053923469968140125, 0.17829881608486176, 1.0455900430679321, 0.08638762682676315, 0.0036006770096719265, 0.30598369240760803, 0.05481858551502228, 0.6648634672164917, 0.08870584517717361, 0.06081939861178398, 0.05242624878883362, 0.8116129040718079, -0.74969083070755, 0.5283546447753906, 1.5100080966949463, -1.211667776107788, -0.1983952671289444, -0.17788851261138916, 1.2522804737091064, -0.25596362352371216, 0.24381813406944275, -0.08611159771680832, 0.5786081552505493, 1.2561248540878296, 0.061473991721868515, 0.09641367197036743, 0.4096328020095825, 1.4211900234222412, 0.15510186553001404, 1.4265493154525757, 1.0929374694824219, 1.3794591426849365, 0.13772882521152496, 1.4441063404083252, 0.8719983100891113, 0.11455860733985901, 1.4215660095214844, 0.10818401724100113, 1.4206645488739014, 1.1257787942886353, 0.562682569026947, -1.1067839860916138, 0.5104936361312866, -0.0038610936608165503, 0.026076432317495346, -0.07697246968746185, -0.7062574028968811], "std": [0.04582322761416435, 0.06411602348089218, 0.048781272023916245, 0.10520666092634201, 0.16038304567337036, 0.060833513736724854, 0.032334696501493454, 0.14803236722946167, 0.021098805591464043, 0.18091252446174622, 0.037038955837488174, 0.10277774930000305, 0.15168318152427673, 0.04062020406126976, 0.04836661368608475, 0.010875244624912739, 0.18905037641525269, 0.026379702612757683, 0.008962268009781837, 0.04802926629781723, 0.1570388376712799, 0.019663557410240173, 0.0042323339730501175, 0.04522927850484848, 0.00914623960852623, 0.09520682692527771, 0.021076403558254242, 0.019776029512286186, 0.01841023378074169, 0.3395676612854004, 0.18205228447914124, 0.2763603925704956, 0.19878259301185608, 0.39126572012901306, 0.1973046213388443, 0.20018310844898224, 0.14681589603424072, 0.05435067042708397, 0.2221989929676056, 0.13103048503398895, 0.07308175414800644, 0.19352959096431732, 0.022842558100819588, 0.013084441423416138, 0.06915927678346634, 0.16671429574489594, 0.022647159174084663, 0.5342692732810974, 0.19948534667491913, 0.23058560490608215, 0.0260127242654562, 0.5131992101669312, 0.1394706517457962, 0.02696840837597847, 0.15833239257335663, 0.029693154618144035, 0.5516126155853271, 0.433666855096817, 5.0027159886667505e-05, 3.9580700104124844e-05, 0.005517294630408287, 0.005312849767506123, 0.005827749148011208, 0.04457564651966095, 0.07361428439617157], "count": [1697]}, "observation.state.joint_torque": {"min": [-45.65250015258789, -17.500499725341797, -20.003999710083008, -15.920999526977539, -0.35040000081062317, -1.7391999959945679, 1.1216000318527222, -1.2849892377853394, -0.5081374645233154, -0.7891078591346741, -0.7381576299667358, -0.41174352169036865, -0.4029749631881714, -0.7781254649162292, -0.23409610986709595, -0.045664187520742416, -0.6591519713401794, -0.3761099874973297, -0.10791664570569992, -0.019978083670139313, -0.7090440988540649, -1.4027366638183594, -0.0796922892332077, -0.02925362065434456, -0.09103883057832718, -0.3597990870475769, -0.39242085814476013, -0.1411217600107193, -0.027113113552331924, 10.864500045776367, -14.653499603271484, 4.916999816894531, -15.201000213623047, -1.9079999923706055, -2.0423998832702637, -3.568000078201294, -1.341024398803711, -2.106414556503296, -1.1109645366668701, -0.8326020240783691, -0.11953844130039215, -0.49412408471107483, -1.2511414289474487, -0.09463459998369217, -0.02925362065434456, -0.4634212553501129, -0.39146140217781067, -0.49807682633399963, -0.02996712550520897, -0.7253549098968506, -0.5603271126747131, -0.7072691321372986, -0.02425910159945488, -0.06069255247712135, -0.4029749929904938, -0.800193190574646, -0.22247432172298431, -0.03638865053653717, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-18.191999435424805, 14.569499969482422, -4.146999835968018, 1.1920000314712524, 1.729599952697754, 1.628000020980835, 4.59119987487793, 1.4276243448257446, 1.2977244853973389, 1.620467185974121, 0.9419586658477783, 0.28722429275512695, 0.9585047364234924, 0.5814352631568909, 0.6358780860900879, 0.13271154463291168, 0.49604299664497375, 0.7771660089492798, 0.06641025096178055, 0.05636673793196678, 0.6975305676460266, 0.17366302013397217, 0.08301279693841934, 0.022832093760371208, 0.10819106549024582, 0.4922051727771759, 0.435596764087677, 0.09463459998369217, 0.014983562752604485, 52.45349884033203, 27.75, 32.33599853515625, 4.8480000495910645, 0.12240000069141388, 3.089600086212158, 0.45840001106262207, 2.6069107055664062, 4.025620460510254, 2.1722214221954346, 1.5620607137680054, 0.5711280703544617, 1.6752245426177979, 0.40585339069366455, 1.0575830936431885, 0.21476440131664276, 0.4826105237007141, 0.3214205205440521, 0.1593845784664154, 0.022118592634797096, 0.4691780209541321, 1.2185195684432983, 0.09463459998369217, 0.039956167340278625, 0.49125784635543823, 0.471096932888031, 0.41065070033073425, 0.1145576685667038, 0.04209667816758156, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-30.19032859802246, 0.9242458939552307, -14.16971206665039, -6.317970275878906, 0.279280424118042, 0.4651835262775421, 1.9232227802276611, -0.05028817057609558, 0.11351883411407471, 0.4779073894023895, 0.1518177092075348, 0.04829125478863716, 0.3146706223487854, 0.002246828516945243, 0.1391073614358902, 0.05131163075566292, 0.034962695091962814, 0.0603146068751812, -0.001359903602860868, 0.01575298421084881, 0.0003522630431689322, -0.22412167489528656, -0.0004930866998620331, 0.0003506547654978931, 0.0020647586788982153, 0.022014399990439415, 0.023297946900129318, 0.0005312433931976557, 3.279811789980158e-05, 26.1618709564209, 4.932445049285889, 13.962967872619629, -7.267152786254883, -0.5783624649047852, 1.1343026161193848, -1.1480244398117065, 0.12675386667251587, 0.49865075945854187, 0.2222597599029541, 0.05678814649581909, 0.04566828906536102, 0.2746415436267853, -0.1885090172290802, 0.14411267638206482, 0.035634417086839676, 0.013130558654665947, 0.003948669880628586, 0.004057214129716158, 0.0011520343832671642, -0.0004591021279338747, 0.12933826446533203, 0.0009891088120639324, 0.0007319998112507164, 0.13193707168102264, -0.00023408261768054217, -0.06097941845655441, 0.0019928982947021723, -0.0005079027614556253, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.8847384452819824, 1.7507141828536987, 0.8505131006240845, 1.101343035697937, 0.2552654445171356, 0.48406553268432617, 0.36472004652023315, 0.30980828404426575, 0.2656286656856537, 0.42304345965385437, 0.21869421005249023, 0.06873694062232971, 0.22040507197380066, 0.21493245661258698, 0.13191905617713928, 0.028524763882160187, 0.12827834486961365, 0.11823318153619766, 0.00816173292696476, 0.014941826462745667, 0.19217513501644135, 0.26854369044303894, 0.006362949963659048, 0.005296270363032818, 0.010578528046607971, 0.08407331258058548, 0.07897111028432846, 0.0168452151119709, 0.006490761414170265, 5.219573497772217, 3.8662028312683105, 2.3000118732452393, 3.123901128768921, 0.30578720569610596, 0.6717185974121094, 0.6652597188949585, 0.5201756358146667, 0.9643685221672058, 0.4676987826824188, 0.3730153739452362, 0.09957994520664215, 0.47663068771362305, 0.3645467162132263, 0.2535226345062256, 0.05627812072634697, 0.06396496295928955, 0.06955794990062714, 0.02423565462231636, 0.005463005509227514, 0.13320501148700714, 0.2467239499092102, 0.020197786390781403, 0.008169691078364849, 0.11919534206390381, 0.09420018643140793, 0.1616840958595276, 0.018095428124070168, 0.004853998310863972, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1697]}, "observation.state.tcp": {"min": [0.3472019135951996, 0.1334211528301239, 1.0234490633010864, -1.2087726593017578, 1.0182350873947144, -1.7815477848052979, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2548612356185913, -0.3236149549484253, 0.9894765615463257, -0.18768170475959778, 0.9808377027511597, 0.0740438774228096, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4354743957519531, 0.24734628200531006, 1.137665867805481, -0.48536404967308044, 1.4347503185272217, -1.2287344932556152, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4491646885871887, -0.09808292984962463, 1.2561811208724976, 1.2073110342025757, 2.191558361053467, 1.5992987155914307, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.39145755767822266, 0.15082679688930511, 1.0650608539581299, -0.6561495661735535, 1.2108356952667236, -1.454164981842041, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3783361315727234, -0.20595915615558624, 1.1222469806671143, 0.4150315821170807, 1.5903962850570679, 0.8533675670623779, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.017744962126016617, 0.018995240330696106, 0.017122725024819374, 0.18514665961265564, 0.06268200278282166, 0.11645043641328812, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.06220061704516411, 0.06818220019340515, 0.07660124450922012, 0.3963664472103119, 0.2802649438381195, 0.43610715866088867, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1697]}, "action": {"min": [0.7988327145576477, -0.7799999713897705, -9.433896451674387e-18, 1.0836397409439087, -0.6666207313537598, -0.7699999809265137, 0.4077153205871582, 0.0, -0.19269567728042603, -0.14808566868305206, -0.3490658402442932, 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, 0.009803245775401592, -1.0916740894317627, 0.0018527260981500149, 1.2558269500732422, -1.7839510440826416, -0.7683245539665222, -0.5443260669708252, 0.0, -0.3490658402442932, -0.1735912263393402, -0.29125386476516724, 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, 0.5626833438873291, -1.1069231033325195, 0.5038031339645386, -0.008154680021107197, 9.829671562303193e-19, -0.16542036831378937, -0.8370238542556763], "max": [1.0499999523162842, -0.4761165678501129, 0.35319969058036804, 1.5700000524520874, -9.328655089519878e-18, -0.31845927238464355, 0.6164971590042114, 1.2477974891662598, 0.0, 0.6061727404594421, 0.0, 0.9959754943847656, 1.2052249908447266, 0.2217668890953064, 0.2157919704914093, 0.08985286206007004, 1.2924339771270752, 0.19463437795639038, 0.07601567357778549, 0.20269636809825897, 1.1082435846328735, 0.09981530159711838, 0.05345337092876434, 0.3237660229206085, 0.07198202610015869, 0.7198202610015869, 0.13097423315048218, 0.08536602556705475, 0.07305578887462616, 1.3056293725967407, -0.4076712131500244, 1.1219515800476074, 1.9863101243972778, -0.0025893787387758493, 0.16233599185943604, 0.5174044966697693, 1.3395490646362305, 0.0, 0.6446917057037354, 0.3490658402442932, 0.6367936134338379, 1.544275164604187, 0.09808962792158127, 0.11010126769542694, 0.4901069700717926, 1.5707963705062866, 0.2099742293357849, 1.7453292608261108, 1.218508005142212, 1.5707963705062866, 0.24640649557113647, 1.7453292608261108, 0.9721605777740479, 0.1545773148536682, 1.5707963705062866, 0.20240014791488647, 1.7453292608261108, 1.3962633609771729, 0.5627791881561279, -1.106767177581787, 0.5442397594451904, 0.008616766892373562, 0.03772183507680893, 0.004987950902432203, -0.5539675354957581], "mean": [0.9473556876182556, -0.541495144367218, 0.181407630443573, 1.245587944984436, -0.5491539835929871, -0.4511353373527527, 0.5489664077758789, 1.201765775680542, -0.15602199733257294, 0.4623112082481384, -0.34214356541633606, 0.80283522605896, 1.1582411527633667, 0.19525355100631714, 0.12791620194911957, 0.08555374294519424, 1.2166484594345093, 0.17375241219997406, 0.0019568651914596558, 0.18147067725658417, 1.0488073825836182, 0.0834740623831749, 0.0005607889033854008, 0.30913248658180237, 0.06676316261291504, 0.6676320433616638, 0.0905960276722908, 0.06447181850671768, 0.055270303040742874, 0.8108202219009399, -0.7498933672904968, 0.5286285877227783, 1.5101983547210693, -1.2119170427322388, -0.19850119948387146, -0.17808444797992706, 1.2531347274780273, -0.257809579372406, 0.24585284292697906, -0.08651650696992874, 0.5807440280914307, 1.2668046951293945, 0.05915284901857376, 0.09949369728565216, 0.4121936559677124, 1.512254238128662, 0.15708334743976593, 1.504063367843628, 1.0945963859558105, 1.4596021175384521, 0.13877356052398682, 1.5235892534255981, 0.8736200928688049, 0.1306125968694687, 1.5133681297302246, 0.10957585275173187, 1.5009855031967163, 1.2026474475860596, 0.5627871751785278, -1.1067862510681152, 0.5105516314506531, -0.0038922277744859457, 0.026110824197530746, -0.07700888067483902, -0.7063021659851074], "std": [0.04572919383645058, 0.06414148211479187, 0.04882821813225746, 0.10530522465705872, 0.1603826880455017, 0.06102455407381058, 0.03220154717564583, 0.1635163277387619, 0.022811733186244965, 0.18283964693546295, 0.04748852550983429, 0.11885243654251099, 0.1664697229862213, 0.04194744676351547, 0.05036211013793945, 0.012161440216004848, 0.19855144619941711, 0.02931988798081875, 0.010020479559898376, 0.04938722774386406, 0.1670929491519928, 0.019055403769016266, 0.004773105960339308, 0.04870447888970375, 0.010291453450918198, 0.1029144749045372, 0.02273321896791458, 0.021978089585900307, 0.01884390413761139, 0.3422357738018036, 0.18232876062393188, 0.27720901370048523, 0.1990908533334732, 0.391286700963974, 0.1972554475069046, 0.20014427602291107, 0.1655149608850479, 0.06426504999399185, 0.22269056737422943, 0.13414223492145538, 0.0836944580078125, 0.21347256004810333, 0.021964145824313164, 0.014612275175750256, 0.0747368335723877, 0.20657484233379364, 0.026465747505426407, 0.5632115006446838, 0.20796117186546326, 0.2691617012023926, 0.028804907575249672, 0.5491687655448914, 0.14703035354614258, 0.031134916469454765, 0.20123521983623505, 0.03151848167181015, 0.5832528471946716, 0.4648185670375824, 1.6692301869625226e-05, 2.43607737502316e-05, 0.005706372205168009, 0.005358428694307804, 0.005953589919954538, 0.044617991894483566, 0.07367989420890808], "count": [1697]}, "observation.state.tcp_pose": {"min": [0.3472019135951996, 0.1334211528301239, 1.0234490633010864, -1.2087726593017578, 1.0182350873947144, -1.7815477848052979, 0.2548612356185913, -0.3236149549484253, 0.9894765615463257, -0.18768170475959778, 0.9808377027511597, 0.0740438774228096], "max": [0.4354743957519531, 0.24734628200531006, 1.137665867805481, -0.48536404967308044, 1.4347503185272217, -1.2287344932556152, 0.4491646885871887, -0.09808292984962463, 1.2561811208724976, 1.2073110342025757, 2.191558361053467, 1.5992987155914307], "mean": [0.39145755767822266, 0.15082679688930511, 1.0650608539581299, -0.6561495661735535, 1.2108356952667236, -1.454164981842041, 0.3783361315727234, -0.20595915615558624, 1.1222469806671143, 0.4150315821170807, 1.5903962850570679, 0.8533675670623779], "std": [0.017744962126016617, 0.018995240330696106, 0.017122725024819374, 0.18514665961265564, 0.06268200278282166, 0.11645043641328812, 0.06220061704516411, 0.06818220019340515, 0.07660124450922012, 0.3963664472103119, 0.2802649438381195, 0.43610715866088867], "count": [1697]}, "action.tcp_pose": {"min": [0.3471471667289734, 0.13346096873283386, 1.023302435874939, -1.208855390548706, 1.0194265842437744, -1.7816226482391357, 0.25522273778915405, -0.32535094022750854, 0.9894528388977051, -0.18665441870689392, 0.9799679517745972, 0.07345160096883774], "max": [0.43588706851005554, 0.2457510232925415, 1.137715220451355, -0.48549357056617737, 1.4351730346679688, -1.2283997535705566, 0.44930189847946167, -0.0979141891002655, 1.2560683488845825, 1.2066375017166138, 2.1917381286621094, 1.6229796409606934], "mean": [0.3915402293205261, 0.15081988275051117, 1.065025806427002, -0.6562079191207886, 1.2108575105667114, -1.4541950225830078, 0.37827011942863464, -0.20605163276195526, 1.1220622062683105, 0.41488784551620483, 1.5910714864730835, 0.852699339389801], "std": [0.017785515636205673, 0.018879985436797142, 0.01714804582297802, 0.1849062740802765, 0.0626632571220398, 0.11650097370147705, 0.06245080754160881, 0.06844915449619293, 0.07677008956670761, 0.396170049905777, 0.2793683111667633, 0.43635961413383484], "count": [1697]}, "subtask_index": {"min": [0], "max": [21], "mean": [10.246317030053035], "std": [6.835082276307136], "count": [1697]}, "observation.tactile": {"min": [-7.734077453613281, -0.004364013671875, -0.0020751953125, -0.18911361694335938, -0.036258697509765625, -0.15956997871398926, -0.46945953369140625, -0.00750732421875, -0.00604248046875, -0.34908580780029297, -0.019170761108398438, -0.010284423828125, -0.4330615997314453, -0.015472412109375, -0.00604248046875, -0.1545114517211914, -0.014162540435791016, -0.007924795150756836, -0.02782440185546875, -0.010009765625, -0.0054931640625, -0.0002574920654296875, -0.0009717941284179688, -0.0005011558532714844, -0.0028285980224609375, -0.0029754638671875, -0.00360107421875, -0.0001544952392578125, -0.0009398460388183594, -0.0003116130828857422, -1.2558059692382812, -0.026031494140625, -0.00634765625, -0.42124271392822266, -0.040837764739990234, -0.03936290740966797, -8.470046997070312, -0.013702392578125, -0.003662109375, -0.15956401824951172, -0.015335559844970703, -0.15519428253173828, -0.031673431396484375, -0.007537841796875, -0.008056640625, -0.0001239776611328125, -0.0019254684448242188, -0.0005490779876708984, -0.0076904296875, -0.0062255859375, -0.012939453125, -0.020697593688964844, -0.0011758804321289062, -0.0007476806640625, -0.024578094482421875, -0.004302978515625, -0.00616455078125, -8.392333984375e-05, -0.0010342597961425781, -0.0005037784576416016], "max": [0.05928802490234375, 10.013214111328125, 6.76837158203125, 0.00020885467529296875, 0.0025959014892578125, 0.0032622814178466797, 5.638450622558594, 11.9224853515625, 22.295654296875, 0.0038347244262695312, 0.029825210571289062, 0.09566497802734375, 5.663129806518555, 6.7525634765625, 10.49420166015625, 0.0023260116577148438, 0.016011714935302734, 0.09451508522033691, 0.01590728759765625, 0.0041351318359375, 0.0069580078125, 0.000812530517578125, 0.00011539459228515625, 0.0, 0.016851425170898438, 0.00640869140625, 0.004150390625, 0.00103759765625, 9.965896606445312e-05, 0.0, 5.344779968261719, 23.657257080078125, 20.0018310546875, 0.0036764144897460938, 0.025995731353759766, 0.09821033477783203, 0.0668182373046875, 7.020294189453125, 9.9638671875, 0.00179290771484375, 0.011428356170654297, 0.004488945007324219, 0.020526885986328125, 0.04705810546875, 0.0234375, 0.001537322998046875, 0.000457763671875, 0.00020170211791992188, 0.6147003173828125, 0.4888916015625, 1.113037109375, 0.0009765625, 0.0069103240966796875, 0.00923919677734375, 0.010959625244140625, 0.0153350830078125, 0.00592041015625, 0.001003265380859375, 0.00013875961303710938, 5.9604644775390625e-06], "mean": [-3.7874081134796143, 5.840305328369141, 4.262823581695557, -0.10515282303094864, -0.02139570564031601, -0.07911034673452377, 2.715595006942749, 2.4795279502868652, 7.144080638885498, -0.10801292955875397, -0.00903571117669344, 0.048204369843006134, 0.7023309469223022, 0.6831902861595154, 2.199258804321289, -0.03596310317516327, 0.0001160981846624054, 0.01165586058050394, -0.004706510342657566, -0.003307047998532653, 0.0012876727851107717, 0.0001393387356074527, -0.0001450838171876967, -0.0002592486562207341, 0.0005066713783890009, 0.002039282815530896, 0.0002635265700519085, 0.00028812765958718956, -0.00024343786935787648, -0.00010556555207585916, 0.5070005655288696, 3.131593704223633, 3.2460243701934814, -0.0733218863606453, -0.0027339477092027664, 0.010860595852136612, -1.7444815635681152, 1.4490606784820557, 2.0093185901641846, -0.03474212810397148, -6.984174979152158e-05, -0.033897001296281815, 0.0020990241318941116, 0.0003476432175375521, -0.0014876105124130845, 0.0006204412784427404, -0.0005096127861179411, -0.00024621206102892756, 0.025814101099967957, 0.018413176760077477, 0.033710379153490067, -0.000498476903885603, -0.0003043214383069426, -4.72677820653189e-05, -0.0017597938422113657, 0.0008713065180927515, -0.001062630326487124, 0.00043473386904224753, -0.0003628587583079934, -0.00018130244279745966], "std": [1.9289723634719849, 2.8008861541748047, 2.044266939163208, 0.05120403692126274, 0.011243108659982681, 0.041180212050676346, 1.3002126216888428, 1.4201383590698242, 3.601356029510498, 0.05396011471748352, 0.005433452315628529, 0.022696910426020622, 0.6574050784111023, 0.8452162742614746, 1.5323339700698853, 0.0240660198032856, 0.005135014187544584, 0.011470993049442768, 0.005580722354352474, 0.0019762294832617044, 0.0016413363628089428, 0.00011720929614966735, 8.543380681658164e-05, 6.866490002721548e-05, 0.001378856017254293, 0.0013980615185573697, 0.001203504973091185, 0.0001572408073116094, 0.00015286241250578314, 4.878235995420255e-05, 1.0689555406570435, 4.599031925201416, 4.6960272789001465, 0.10758685320615768, 0.007647335063666105, 0.02483435347676277, 2.4827499389648438, 2.1224629878997803, 2.7116055488586426, 0.04684612154960632, 0.002966200700029731, 0.04796130955219269, 0.007257850840687752, 0.002000247361138463, 0.002044380409643054, 0.00032262993045151234, 0.0003146660455968231, 0.0001125507551478222, 0.059032950550317764, 0.0653228759765625, 0.1319882720708847, 0.0025266464799642563, 0.0007951073930598795, 0.0010246984893456101, 0.006792649161070585, 0.002582455752417445, 0.0016697816317901015, 0.00021797127556055784, 0.00022516273020301014, 7.41397452657111e-05], "count": [1697]}, "timestamp": {"min": [0.0], "max": [56.53333333333333], "mean": [28.266666666666666], "std": [16.32938727842808], "count": [1697]}, "frame_index": {"min": [0], "max": [1696], "mean": [848.0], "std": [489.88161835284245], "count": [1697]}, "episode_index": {"min": [43], "max": [43], "mean": [43.0], "std": [0.0], "count": [1697]}, "index": {"min": [66879], "max": [68575], "mean": [67727.0], "std": [489.88161835284245], "count": [1697]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1697]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33714449405670166]], [[0.33635297417640686]], [[0.3365335166454315]]], "std": [[[0.21274203062057495]], [[0.21270634233951569]], [[0.21290288865566254]]], "count": [1697]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3040560781955719]], [[0.3056640923023224]], [[0.3036845624446869]]], "std": [[[0.17083996534347534]], [[0.17309361696243286]], [[0.17205412685871124]]], "count": [1697]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30925625562667847]], [[0.3082778751850128]], [[0.30645865201950073]]], "std": [[[0.1740780472755432]], [[0.17454104125499725]], [[0.17324480414390564]]], "count": [1697]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3363009989261627]], [[0.3355085253715515]], [[0.33583879470825195]]], "std": [[[0.21335744857788086]], [[0.2133604884147644]], [[0.213643416762352]]], "count": [1697]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8235294222831726]], [[0.8235294222831726]], [[0.8235294222831726]]], "mean": [[[0.011491332203149796]], [[0.011491332203149796]], [[0.011491332203149796]]], "std": [[[0.07338649034500122]], [[0.07338649034500122]], [[0.07338649034500122]]], "count": [1697]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47310173511505127]], [[0.47310173511505127]], [[0.47310173511505127]]], "std": [[[0.15281881392002106]], [[0.15281881392002106]], [[0.15281881392002106]]], "count": [1697]}}}
+{"episode_index": 44, "stats": {"observation.state": {"min": [0.9282915592193604, -0.8309953212738037, 6.351639513013652e-06, 1.1166034936904907, -0.4324255883693695, -0.7699933648109436, 0.37861400842666626, 0.007005209103226662, -0.3131260871887207, -8.258008892880753e-05, -0.31767910718917847, 0.0024567660875618458, 0.0032371659763157368, -0.00016239804972428828, 0.0034194043837487698, 0.0008518153917975724, 0.0036806941498070955, -0.000519330205861479, 0.0034974082373082638, 0.0008456074283458292, 0.003187122056260705, -0.0017772994469851255, 0.0030471133068203926, 0.0008602404268458486, 0.006100986152887344, 0.0032332411501556635, -0.004307963885366917, 0.006563668139278889, 0.0008385126711800694, 0.5255060195922852, -1.037820816040039, 0.002103950595483184, 1.1350277662277222, -1.7275614738464355, -0.7677509188652039, -0.48768317699432373, 0.02077767625451088, -0.3196776211261749, -0.087349072098732, -0.313214510679245, 0.006880292668938637, 0.013990758918225765, 6.181945354910567e-05, 0.003479325445368886, 0.0013435713481158018, 0.03162958472967148, 0.00015013180382084101, 0.003355582943186164, 0.005436364561319351, 0.00949611235409975, -0.00015111335960682482, 0.01036954578012228, 0.003010398242622614, 0.004956783726811409, 0.044723473489284515, 0.0005065742880105972, 0.0067639960907399654, 0.000828313990496099, 0.5623956918716431, -1.1069588661193848, 0.5233750939369202, -0.02876213937997818, -0.023872576653957367, -0.10757040232419968, -0.8315134644508362], "max": [1.112496256828308, -0.5252857804298401, 0.2383517324924469, 1.569991111755371, 0.07600144296884537, -0.39455172419548035, 0.6336866021156311, 1.211158037185669, 0.00016586142010055482, 0.7767537236213684, -0.002395580057054758, 0.8655301332473755, 1.2720848321914673, 0.1743413656949997, 0.20423318445682526, 0.08968094736337662, 1.3722026348114014, 0.15917876362800598, 0.018717018887400627, 0.10225952416658401, 0.7809420228004456, 0.10747263580560684, 0.9587592482566833, 0.18422891199588776, 0.06190360337495804, 0.7057331204414368, 0.20372581481933594, 0.08153066784143448, 0.07317187637090683, 1.203443169593811, -0.267412394285202, 0.8248704671859741, 1.7830231189727783, -0.0031470574904233217, 0.20968762040138245, 0.5170900821685791, 1.3144850730895996, -6.197322363732383e-05, 0.5062615275382996, 0.3146236538887024, 0.6305428743362427, 1.4616707563400269, 0.1268860250711441, 0.10812713950872421, 0.4801604747772217, 1.4668294191360474, 0.22170908749103546, 1.6533699035644531, 1.2572705745697021, 1.4668147563934326, 0.2604859173297882, 1.6541961431503296, 0.9658384323120117, 0.13690291345119476, 1.466861367225647, 0.1984025090932846, 1.653403639793396, 1.3080989122390747, 0.5628750920295715, -1.106767177581787, 0.5496444702148438, 0.0, 0.010833739303052425, 0.07439807057380676, -0.5780231356620789], "mean": [1.0239746570587158, -0.6050465703010559, 0.12600532174110413, 1.226245403289795, -0.3538392186164856, -0.502098023891449, 0.5333781838417053, 1.1621873378753662, -0.2522980570793152, 0.6551288962364197, -0.3081256151199341, 0.6414066553115845, 1.2236053943634033, 0.15839524567127228, 0.16443811357021332, 0.08462521433830261, 1.2899688482284546, 0.14028845727443695, 0.00372165790759027, 0.08630061149597168, 0.714169979095459, 0.06208573281764984, 0.6947112679481506, 0.1559978574514389, 0.06026473641395569, 0.6300842761993408, 0.051353637129068375, 0.05538787692785263, 0.04796231538057327, 1.001206398010254, -0.6879692077636719, 0.3383409082889557, 1.376919150352478, -1.171541690826416, -0.2139895111322403, -0.08850608766078949, 1.236167550086975, -0.23159509897232056, 0.18573884665966034, -0.10716866701841354, 0.5655099153518677, 1.238682508468628, 0.06262996792793274, 0.09815850108861923, 0.4098915457725525, 1.4114090204238892, 0.14810384809970856, 1.2506635189056396, 1.0934805870056152, 1.343935251235962, 0.13377314805984497, 1.4587900638580322, 0.8349950313568115, 0.10468852519989014, 1.4299719333648682, 0.10051034390926361, 1.3869024515151978, 1.1046833992004395, 0.5626823902130127, -1.1068462133407593, 0.5372812151908875, -0.017084281891584396, -0.003182631451636553, 0.0025865184143185616, -0.6892626881599426], "std": [0.03965162858366966, 0.06875690817832947, 0.039355792105197906, 0.11621291190385818, 0.1252259761095047, 0.0475878082215786, 0.030364591628313065, 0.1360447108745575, 0.03254132345318794, 0.16397972404956818, 0.03672619163990021, 0.08842048048973083, 0.1470104455947876, 0.026889264583587646, 0.06840331852436066, 0.01067175343632698, 0.19714635610580444, 0.022444922477006912, 0.0008786426042206585, 0.03271310403943062, 0.14546799659729004, 0.0168683473020792, 0.10259447991847992, 0.04986903443932533, 0.00728030689060688, 0.08597636967897415, 0.028540704399347305, 0.017454616725444794, 0.016596462577581406, 0.166648268699646, 0.2008936107158661, 0.1896534115076065, 0.18795400857925415, 0.47194355726242065, 0.22423778474330902, 0.1733979880809784, 0.14510273933410645, 0.059126224368810654, 0.20591801404953003, 0.17621144652366638, 0.06928414106369019, 0.20153576135635376, 0.0256622526794672, 0.01340577844530344, 0.07376909255981445, 0.16831950843334198, 0.02797490358352661, 0.5125120282173157, 0.2095394730567932, 0.253339022397995, 0.03223147243261337, 0.4444010853767395, 0.14912298321723938, 0.027442796155810356, 0.1467074602842331, 0.03385740518569946, 0.5638097524642944, 0.44403326511383057, 4.397240627440624e-05, 2.986937397508882e-05, 0.006153331138193607, 0.005674863234162331, 0.010898033156991005, 0.04429953172802925, 0.08716444671154022], "count": [1659]}, "observation.state.joint_torque": {"min": [-47.222999572753906, -9.491999626159668, -23.316999435424805, -16.239999771118164, 0.06480000168085098, -1.948799967765808, 0.8799999952316284, -1.5524300336837769, -0.556531548500061, -0.8885230422019958, -0.630043625831604, -0.4084230065345764, -0.35116392374038696, -1.0410187244415283, -0.21749354898929596, -0.04281017929315567, -0.48836731910705566, -0.3693937063217163, -0.04648716747760773, -0.03139413148164749, -0.4595833420753479, -0.41352909803390503, -0.15440380573272705, -0.02996712550520897, -0.08576121926307678, -0.521948516368866, -0.4327183663845062, -0.10127562284469604, -0.02497260272502899, 6.265500068664551, -12.42300033569336, -0.41499999165534973, -13.788999557495117, -2.0799999237060547, -2.191200017929077, -3.6751999855041504, -1.328289270401001, -1.2709804773330688, -0.7915932536125183, -1.2153502702713013, -0.14444229006767273, -0.7339901328086853, -1.5466563701629639, -0.10127562284469604, -0.07349080592393875, -0.4212047755718231, -0.41352909803390503, -0.6923267841339111, -0.026399608701467514, -0.5267458558082581, -0.5171511769294739, -0.2739422619342804, -0.03068062849342823, -0.051896531134843826, -0.5113944411277771, -0.8251392841339111, -0.22579483687877655, -0.05422622710466385, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-16.345500946044922, 9.156000137329102, -6.4710001945495605, -0.010999999940395355, 1.9975999593734741, 1.1055999994277954, 7.153600215911865, 1.5244126319885254, 2.915104627609253, 1.6565051078796387, 1.4104526042938232, 0.2756025195121765, 1.4459125995635986, 0.3223799765110016, 0.8102049827575684, 0.12914402782917023, 0.5353810787200928, 0.2974339425563812, 0.0265640988945961, 0.02354559674859047, 0.49796193838119507, 0.30702856183052063, 0.11123716086149216, 0.022118592634797096, 0.08444181084632874, 0.4739753305912018, 0.38954249024391174, 0.11123716086149216, 0.027113113552331924, 49.50899887084961, 19.229999542236328, 27.136999130249023, 1.74399995803833, 0.031199999153614044, 3.4159998893737793, 1.174399971961975, 2.566157817840576, 3.4410712718963623, 2.0032155513763428, 1.1557013988494873, 0.43664735555648804, 1.9275636672973633, 0.44615086913108826, 0.9795511364936829, 0.21405088901519775, 0.5056376457214355, 0.393380343914032, 0.4233653247356415, 0.021405089646577835, 0.6198139190673828, 0.9757751822471619, 0.6840255260467529, 0.021405089646577835, 0.48070257902145386, 0.35596123337745667, 0.3578801453113556, 0.3287307322025299, 0.0635017603635788, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-30.76869773864746, 1.5522029399871826, -14.395998001098633, -5.318454742431641, 0.5190182328224182, 0.2556780278682709, 2.058478355407715, -0.10238572210073471, 0.34731152653694153, 0.2510426640510559, 0.21023260056972504, 0.04157237708568573, 0.5792562365531921, -0.27870577573776245, 0.27694445848464966, 0.06119222939014435, 0.01710093580186367, 0.014722785912454128, -0.0006244716932997108, 0.003779553808271885, -0.011761104688048363, 0.005066238809376955, 0.004456375725567341, -0.0018846108578145504, -0.00021499615104403347, 0.030070696026086807, 0.017370417714118958, -0.00307632889598608, -0.0005087851313874125, 28.33280372619629, 3.4733734130859375, 14.127055168151855, -6.198211669921875, -0.6031191945075989, 1.1214873790740967, -1.076409935951233, 0.11767987161874771, 0.4594705104827881, 0.18191145360469818, -0.0009924895130097866, 0.028010176494717598, 0.2762787342071533, -0.1810123175382614, 0.13462980091571808, 0.03179459646344185, 0.015739478170871735, 0.00037765761953778565, 0.00507181603461504, 0.0008997258264571428, -0.009262685663998127, 0.0849880576133728, 0.002854161197319627, 0.0001281658187508583, 0.10709799826145172, -0.0046036094427108765, -0.11328277736902237, 0.0006895216065458953, -0.0004980328376404941, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.529207229614258, 1.7565298080444336, 1.1855533123016357, 1.3806729316711426, 0.21006834506988525, 0.38557225465774536, 0.5623063445091248, 0.4341975748538971, 0.502464234828949, 0.42771297693252563, 0.30689528584480286, 0.061820074915885925, 0.3505147695541382, 0.28673529624938965, 0.18434487283229828, 0.0352381095290184, 0.09648793190717697, 0.08272270858287811, 0.004100332502275705, 0.007104738149791956, 0.09498681128025055, 0.06384249031543732, 0.018919285386800766, 0.00679372251033783, 0.00605830829590559, 0.08579275012016296, 0.07463503628969193, 0.015653109177947044, 0.006813057232648134, 4.400564670562744, 2.9465391635894775, 2.145397901535034, 2.6817986965179443, 0.26761189103126526, 0.7404206395149231, 0.8002722859382629, 0.4975443184375763, 0.8001230359077454, 0.37758731842041016, 0.28383779525756836, 0.06476062536239624, 0.5204216241836548, 0.34881502389907837, 0.21960055828094482, 0.051308099180459976, 0.07344026863574982, 0.09597339481115341, 0.04590481147170067, 0.0054949684999883175, 0.1431986540555954, 0.19075213372707367, 0.024638667702674866, 0.007804147899150848, 0.10388341546058655, 0.09795916080474854, 0.19738270342350006, 0.02714933268725872, 0.005091214086860418, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1659]}, "observation.state.tcp": {"min": [0.3615970015525818, 0.15338584780693054, 1.018731951713562, -1.33027982711792, 1.0391745567321777, -1.6810107231140137, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.295173704624176, -0.32351449131965637, 0.9942866563796997, -0.34657907485961914, 1.0065902471542358, 0.11771144717931747, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4440719783306122, 0.2531561255455017, 1.1345627307891846, -0.7138189673423767, 1.2978020906448364, -1.229149580001831, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.46871283650398254, -0.05835903063416481, 1.2753994464874268, 1.2069114446640015, 2.188565731048584, 1.6300381422042847, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.42150068283081055, 0.1834026277065277, 1.0613728761672974, -0.8458669185638428, 1.18936288356781, -1.3730698823928833, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.40864303708076477, -0.19614151120185852, 1.1184945106506348, 0.3498009443283081, 1.5885114669799805, 0.8329044580459595, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.02066856063902378, 0.016177881509065628, 0.01747014932334423, 0.13477616012096405, 0.043895479291677475, 0.09322819113731384, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.054340116679668427, 0.07965656369924545, 0.07036391645669937, 0.5042381882667542, 0.3050379753112793, 0.4234887361526489, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1659]}, "action": {"min": [0.928264319896698, -0.8311235308647156, 1.7129960262244533e-18, 1.116563320159912, -0.4324645698070526, -0.7699999809265137, 0.3786306083202362, 0.0, -0.31733137369155884, 0.0, -0.3490658402442932, 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, -0.01034373790025711, 0.0, 0.0, 0.5254635810852051, -1.0380558967590332, 0.0027568235527724028, 1.1348466873168945, -1.7275763750076294, -0.766738772392273, -0.4876810610294342, 0.0, -0.3490658402442932, -0.09372836351394653, -0.31483882665634155, 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, 0.5626833438873291, -1.1069231033325195, 0.523305356502533, -0.029485519975423813, -0.024491775780916214, -0.1083206757903099, -0.8316515684127808], "max": [1.1124886274337769, -0.5252047181129456, 0.23840342462062836, 1.5700000524520874, 0.07593321055173874, -0.39442700147628784, 0.6337776780128479, 1.2170219421386719, 0.0, 0.7874605059623718, 0.0, 0.8699493408203125, 1.2727707624435425, 0.17766517400741577, 0.21282555162906647, 0.09019804000854492, 1.3786298036575317, 0.16165393590927124, 0.023721633478999138, 0.1061992198228836, 0.787527859210968, 0.1083480641245842, 0.9651622772216797, 0.1871936321258545, 0.0714547410607338, 0.7145473957061768, 0.20374244451522827, 0.08885584026575089, 0.07639224082231522, 1.2035126686096191, -0.26739612221717834, 0.8253326416015625, 1.7833949327468872, -0.004951050970703363, 0.20984601974487305, 0.5157118439674377, 1.3143339157104492, 0.0, 0.511427104473114, 0.3490658402442932, 0.6354515552520752, 1.5496662855148315, 0.10863583534955978, 0.1122385710477829, 0.483088880777359, 1.5707963705062866, 0.22262948751449585, 1.7453292608261108, 1.2612199783325195, 1.5707963705062866, 0.262321412563324, 1.7453292608261108, 0.968421220779419, 0.15262149274349213, 1.5707963705062866, 0.20240014791488647, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.5499026775360107, -3.3366985257092666e-18, 0.01186184212565422, 0.07449708133935928, -0.5772877931594849], "mean": [1.0239384174346924, -0.605103611946106, 0.12598557770252228, 1.2263379096984863, -0.353853315114975, -0.5020929574966431, 0.5333959460258484, 1.162769079208374, -0.24642832577228546, 0.6603388786315918, -0.3419709801673889, 0.645411491394043, 1.2294296026229858, 0.15804192423820496, 0.16781537234783173, 0.08668342232704163, 1.2914425134658813, 0.14072073996067047, 8.267881639767438e-05, 0.08901675790548325, 0.7162054777145386, 0.062461141496896744, 0.696726381778717, 0.15750335156917572, 0.06362195312976837, 0.6362181901931763, 0.05101851373910904, 0.058472875505685806, 0.05008968710899353, 1.0013995170593262, -0.6884959936141968, 0.33802828192710876, 1.377046823501587, -1.170922040939331, -0.21404270827770233, -0.08863937109708786, 1.2369236946105957, -0.23338595032691956, 0.18697413802146912, -0.10786092281341553, 0.5675636529922485, 1.2461340427398682, 0.061340488493442535, 0.10042306035757065, 0.41188549995422363, 1.4991581439971924, 0.1483774483203888, 1.2532633543014526, 1.0942450761795044, 1.4114598035812378, 0.13359558582305908, 1.532399296760559, 0.8362619876861572, 0.12179874628782272, 1.5202810764312744, 0.09949792176485062, 1.4461835622787476, 1.1730356216430664, 0.5626831650733948, -1.1068459749221802, 0.5373378992080688, -0.01712772436439991, -0.003185877576470375, 0.0025947471149265766, -0.6893090009689331], "std": [0.03966505452990532, 0.06885649263858795, 0.03937176242470741, 0.11635395884513855, 0.1251266896724701, 0.047691624611616135, 0.030346103012561798, 0.1553047150373459, 0.037555720657110214, 0.16761310398578644, 0.048021163791418076, 0.10420394688844681, 0.16756796836853027, 0.028660286217927933, 0.07146316766738892, 0.012276355177164078, 0.21102046966552734, 0.024654708802700043, 0.0012887533521279693, 0.03408253565430641, 0.1503467559814453, 0.017940819263458252, 0.11900791525840759, 0.050389401614665985, 0.009806285612285137, 0.09806285798549652, 0.031155649572610855, 0.019918959587812424, 0.01706550270318985, 0.16675177216529846, 0.20090556144714355, 0.1895352452993393, 0.18804550170898438, 0.472197562456131, 0.22443804144859314, 0.1734413206577301, 0.1648349165916443, 0.06938929855823517, 0.20638076961040497, 0.17927134037017822, 0.08162999153137207, 0.22073450684547424, 0.02388712577521801, 0.015103847719728947, 0.08002858608961105, 0.2145833671092987, 0.030374277383089066, 0.5141312479972839, 0.21940205991268158, 0.29655006527900696, 0.033616743981838226, 0.4839760959148407, 0.15717770159244537, 0.028415819630026817, 0.19186706840991974, 0.034852199256420135, 0.595138669013977, 0.47813931107521057, 1.799837576754726e-07, 1.9519426132319495e-05, 0.006207689177244902, 0.005747239105403423, 0.010957790538668633, 0.04435788840055466, 0.08724378049373627], "count": [1659]}, "observation.state.tcp_pose": {"min": [0.3615970015525818, 0.15338584780693054, 1.018731951713562, -1.33027982711792, 1.0391745567321777, -1.6810107231140137, 0.295173704624176, -0.32351449131965637, 0.9942866563796997, -0.34657907485961914, 1.0065902471542358, 0.11771144717931747], "max": [0.4440719783306122, 0.2531561255455017, 1.1345627307891846, -0.7138189673423767, 1.2978020906448364, -1.229149580001831, 0.46871283650398254, -0.05835903063416481, 1.2753994464874268, 1.2069114446640015, 2.188565731048584, 1.6300381422042847], "mean": [0.42150068283081055, 0.1834026277065277, 1.0613728761672974, -0.8458669185638428, 1.18936288356781, -1.3730698823928833, 0.40864303708076477, -0.19614151120185852, 1.1184945106506348, 0.3498009443283081, 1.5885114669799805, 0.8329044580459595], "std": [0.02066856063902378, 0.016177881509065628, 0.01747014932334423, 0.13477616012096405, 0.043895479291677475, 0.09322819113731384, 0.054340116679668427, 0.07965656369924545, 0.07036391645669937, 0.5042381882667542, 0.3050379753112793, 0.4234887361526489], "count": [1659]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.15388236939907074, 1.017417550086975, -1.3302017450332642, 1.037408709526062, -1.6807438135147095, 0.295097291469574, -0.32442599534988403, 0.994321346282959, -0.346763551235199, 1.000808596611023, 0.11821983009576797], "max": [0.4438115358352661, 0.2537357807159424, 1.13472318649292, -0.7143068313598633, 1.2984362840652466, -1.2289544343948364, 0.4684959053993225, -0.0581948347389698, 1.2757697105407715, 1.2065174579620361, 2.1892178058624268, 1.6342084407806396], "mean": [0.42148762941360474, 0.1834057718515396, 1.0613268613815308, -0.8459198474884033, 1.1894328594207764, -1.373125433921814, 0.40858709812164307, -0.19636887311935425, 1.1185041666030884, 0.3502824306488037, 1.5886712074279785, 0.8325017094612122], "std": [0.02071002498269081, 0.016163261607289314, 0.01760479249060154, 0.13463452458381653, 0.04403990879654884, 0.09324917197227478, 0.05442366749048233, 0.08001688867807388, 0.070481076836586, 0.5043638348579407, 0.30503103137016296, 0.42376700043678284], "count": [1659]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.913200723327305], "std": [7.17261136336249], "count": [1659]}, "observation.tactile": {"min": [-10.858642578125, -0.002044677734375, -0.00286865234375, -0.3149690628051758, -0.025719642639160156, -0.18900442123413086, -0.5023689270019531, -0.004852294921875, -0.01007080078125, -0.2568960189819336, -0.014674186706542969, -0.009572744369506836, -0.28226470947265625, -0.00933837890625, -0.01007080078125, -0.027970314025878906, -0.0055370330810546875, -0.0069577693939208984, -0.022068023681640625, -0.01092529296875, -0.0054931640625, -0.012730598449707031, -0.0014233589172363281, -0.0005609989166259766, -0.038936614990234375, -0.00628662109375, -0.00286865234375, -0.0001468658447265625, -0.0016078948974609375, -0.0005619525909423828, -0.81829833984375, -0.058197021484375, -0.00103759765625, -0.42051219940185547, -0.05975914001464844, -0.03102564811706543, -8.656875610351562, -0.00933837890625, -0.00970458984375, -0.2065267562866211, -0.028270721435546875, -0.1322770118713379, -0.025854110717773438, -0.007110595703125, -0.0059814453125, -0.00027751922607421875, -0.0011644363403320312, -0.0005438327789306641, -0.0151824951171875, -0.011260986328125, -0.0111083984375, -0.0006685256958007812, -0.0012807846069335938, -0.0005724430084228516, -0.030336380004882812, -0.005340576171875, -0.0047607421875, -0.00023555755615234375, -0.0006880760192871094, -0.00040912628173828125], "max": [0.713134765625, 8.388824462890625, 13.6365966796875, 0.0011081695556640625, 0.033606529235839844, 0.01843881607055664, 5.447338104248047, 10.2978515625, 18.45245361328125, 0.0023126602172851562, 0.008275032043457031, 0.08741974830627441, 0.7284774780273438, 1.977294921875, 3.0765380859375, 0.0017194747924804688, 0.007829666137695312, 0.012710809707641602, 0.3823204040527344, 0.28118896484375, 0.72314453125, 0.0010585784912109375, 0.007267475128173828, 0.007138967514038086, 0.014926910400390625, 0.020904541015625, 0.019012451171875, 0.001636505126953125, 0.00013113021850585938, 5.6743621826171875e-05, 7.03619384765625, 22.672393798828125, 22.17266845703125, 0.005570411682128906, 0.03472328186035156, 0.15001988410949707, 0.2147064208984375, 13.7198486328125, 13.31536865234375, 0.005440711975097656, 0.00466156005859375, 0.0035834312438964844, 0.022729873657226562, 0.0090484619140625, 0.026641845703125, 0.00128173828125, 0.0005965232849121094, 0.0, 0.02838134765625, 0.056610107421875, 0.0233154296875, 0.001354217529296875, 0.00047397613525390625, 0.00011992454528808594, 0.008531570434570312, 0.009002685546875, 0.009521484375, 0.0008087158203125, 0.00012111663818359375, 3.838539123535156e-05], "mean": [-7.237579822540283, 5.241471767425537, 5.4484639167785645, -0.09842382371425629, -0.012708211317658424, -0.13136084377765656, 1.6099739074707031, 2.1287689208984375, 5.721648693084717, -0.07230523228645325, -0.0027398986276239157, 0.027782922610640526, 0.06326018273830414, 0.22872775793075562, 0.777992308139801, -0.007563482504338026, 0.0025636975187808275, 0.000738271395675838, 0.007861163467168808, 0.0017213275423273444, 0.013499714434146881, -0.00017682812176644802, 9.186501847580075e-05, -1.157178030553041e-05, -0.0012800804106518626, 0.0007984697003848851, 0.0010266525205224752, 0.00023135713126976043, -5.8270419685868546e-05, -1.959588007593993e-05, 0.8025833964347839, 3.0280349254608154, 3.1846489906311035, -0.06590119004249573, -0.004789000377058983, 0.015603034757077694, -1.3592528104782104, 1.233964443206787, 1.7785999774932861, -0.03268785402178764, -0.0029095520731061697, -0.024853166192770004, 0.0037688175216317177, -0.0012468794593587518, -0.0006659049540758133, 0.0003517983132041991, -0.0003533482667990029, -0.0002499910187907517, 0.009497281163930893, 0.0017254756530746818, -0.0007461078930646181, 0.0007799693266861141, -0.0006871203077025712, -0.00031805987237021327, -0.006718717981129885, 0.002015447709709406, 0.003170590614899993, 0.000250449578743428, -0.00015511865785811096, -0.00011378149793017656], "std": [3.2857110500335693, 2.4945132732391357, 2.7308998107910156, 0.054181016981601715, 0.007904533296823502, 0.05862172693014145, 0.8573150038719177, 1.3193457126617432, 2.8800907135009766, 0.037867285311222076, 0.0035838582552969456, 0.014517612755298615, 0.12684890627861023, 0.2014344334602356, 0.5213952660560608, 0.005066408310085535, 0.003203414846211672, 0.001209270441904664, 0.05660415440797806, 0.0241257194429636, 0.06843303143978119, 0.001239934703335166, 0.0006649179849773645, 0.0010175061179324985, 0.001191993709653616, 0.0014510020846500993, 0.0011823170352727175, 0.00010840545292012393, 7.407252269331366e-05, 2.6724650524556637e-05, 1.5333170890808105, 4.751456260681152, 4.648410320281982, 0.09785584360361099, 0.010341599583625793, 0.02871309220790863, 2.0580484867095947, 1.9187856912612915, 2.428924560546875, 0.046241309493780136, 0.004807019140571356, 0.03563975542783737, 0.007523259148001671, 0.0016630019526928663, 0.0020596636459231377, 0.00028610267327167094, 0.00029959488892927766, 0.00010624924470903352, 0.005880977027118206, 0.0026829324197024107, 0.002900941763073206, 0.0002598088176455349, 0.0002576767874415964, 8.889665332389995e-05, 0.008330166339874268, 0.002130422741174698, 0.0018726567504927516, 0.00014033207844477147, 0.0001122955945902504, 7.63511925470084e-05], "count": [1659]}, "timestamp": {"min": [0.0], "max": [55.266666666666666], "mean": [27.633333333333333], "std": [15.96373204300112], "count": [1659]}, "frame_index": {"min": [0], "max": [1658], "mean": [829.0], "std": [478.9119612900336], "count": [1659]}, "episode_index": {"min": [44], "max": [44], "mean": [44.0], "std": [0.0], "count": [1659]}, "index": {"min": [68576], "max": [70234], "mean": [69405.0], "std": [478.9119612900336], "count": [1659]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1659]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3462090492248535]], [[0.3455134630203247]], [[0.34524068236351013]]], "std": [[[0.2194240391254425]], [[0.2193811535835266]], [[0.21929965913295746]]], "count": [1659]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3049405515193939]], [[0.3063364028930664]], [[0.3037748336791992]]], "std": [[[0.1712285578250885]], [[0.1732640266418457]], [[0.17158092558383942]]], "count": [1659]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30893585085868835]], [[0.308034747838974]], [[0.30712130665779114]]], "std": [[[0.17268691956996918]], [[0.17326457798480988]], [[0.1727670282125473]]], "count": [1659]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34410691261291504]], [[0.3434121012687683]], [[0.343270480632782]]], "std": [[[0.2195397913455963]], [[0.21952180564403534]], [[0.2195209562778473]]], "count": [1659]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8509804010391235]], [[0.8509804010391235]], [[0.8509804010391235]]], "mean": [[[0.008080755360424519]], [[0.008080755360424519]], [[0.008080755360424519]]], "std": [[[0.06147191300988197]], [[0.06147191300988197]], [[0.06147191300988197]]], "count": [1659]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.9725490212440491]], [[0.9725490212440491]], [[0.9725490212440491]]], "mean": [[[0.4729515016078949]], [[0.4729515016078949]], [[0.4729515016078949]]], "std": [[[0.15216289460659027]], [[0.15216289460659027]], [[0.15216289460659027]]], "count": [1659]}}}
+{"episode_index": 45, "stats": {"observation.state": {"min": [0.9415034055709839, -0.8849725723266602, -7.310377441172022e-06, 1.0607709884643555, -0.5966355800628662, -0.7700091004371643, 0.4676930010318756, 0.007418056484311819, -0.313286691904068, -0.0022694366052746773, -0.3184507489204407, 0.0024932860396802425, 0.0032369205728173256, -0.0001305072073591873, 0.0033538101706653833, 0.0008438337245024741, 0.003921838011592627, -0.0007266206666827202, 0.0036690165288746357, 0.0008083599386736751, 0.0033056086394935846, 4.2439445678610355e-05, 0.003042858559638262, 0.0008651180542074144, 0.005763826426118612, 0.0032379021868109703, 2.8701781047857367e-05, 0.006517219822853804, 0.0008655614801682532, 0.20709246397018433, -0.9845083951950073, 0.0020270117092877626, 1.1606441736221313, -1.8929786682128906, -0.7679274082183838, -0.33319246768951416, 0.02259456366300583, -0.3202410042285919, -0.14214512705802917, -0.3009144365787506, 0.006872492376714945, 0.013943168334662914, -0.0010065437527373433, 0.00350059918127954, 0.0013373633846640587, 0.025763632729649544, 8.63508103066124e-05, 0.0033921031281352043, 0.005368964280933142, 0.009498811326920986, -3.826894680969417e-05, 0.010320615954697132, 0.0026246202178299427, 0.005657861940562725, 0.047327976673841476, 0.0011963954893872142, 0.006772859953343868, 0.0008642312022857368, 0.5624915957450867, -1.1069588661193848, 0.5231833457946777, -0.022722089663147926, -0.001725728390738368, -0.14189322292804718, -0.8012173175811768], "max": [1.1326959133148193, -0.48588675260543823, 0.22547683119773865, 1.570009708404541, 0.0059939101338386536, -0.3748304545879364, 0.6608473062515259, 1.2171789407730103, -3.179926352459006e-05, 0.7353322505950928, -0.0024366804864257574, 0.8298090100288391, 1.265183448791504, 0.1941850632429123, 0.19750215113162994, 0.08972927927970886, 1.3474618196487427, 0.18229395151138306, 0.006847318261861801, 0.0685482993721962, 0.8664838075637817, 0.14828850328922272, 0.888003408908844, 0.16109110414981842, 0.05377965793013573, 0.727364182472229, 0.1950019747018814, 0.057322535663843155, 0.05056306719779968, 1.1673868894577026, -0.3412571847438812, 0.9166572093963623, 1.8388240337371826, -0.002577327424660325, 0.050327032804489136, 0.5175824761390686, 1.3169745206832886, -0.0002885411086026579, 0.4922492504119873, 0.27725750207901, 0.6145687699317932, 1.466747522354126, 0.11811111867427826, 0.1065496876835823, 0.480142742395401, 1.4666578769683838, 0.19602249562740326, 1.6533575057983398, 1.1047660112380981, 1.466705083847046, 0.2530759274959564, 1.6540446281433105, 0.9093326926231384, 0.1318465918302536, 1.466745376586914, 0.1898672878742218, 1.6534650325775146, 1.308103322982788, 0.5629709362983704, -1.106767177581787, 0.544083833694458, 0.0, 0.009395631961524487, 0.03825364634394646, -0.5998823642730713], "mean": [1.0459816455841064, -0.5820536613464355, 0.08839142322540283, 1.184799313545227, -0.4755307137966156, -0.49222633242607117, 0.5317979454994202, 1.1642546653747559, -0.25040391087532043, 0.5961084961891174, -0.308645099401474, 0.7097621560096741, 1.217194676399231, 0.17556814849376678, 0.14497284591197968, 0.08461813628673553, 1.2662529945373535, 0.15638123452663422, 0.0038433794397860765, 0.05808281525969505, 0.7931236028671265, 0.07574918866157532, 0.6164996027946472, 0.1436985731124878, 0.050777554512023926, 0.6631630063056946, 0.07171467691659927, 0.043555088341236115, 0.03748409450054169, 0.9103779792785645, -0.6860150098800659, 0.4420773684978485, 1.3877427577972412, -1.2182323932647705, -0.241275355219841, -0.07940748333930969, 1.2303528785705566, -0.25524258613586426, 0.19749715924263, -0.092658631503582, 0.5580494999885559, 1.2377724647521973, 0.06726737320423126, 0.09626895934343338, 0.40919268131256104, 1.4052029848098755, 0.15387822687625885, 1.3799234628677368, 1.0372284650802612, 1.2913246154785156, 0.1498420238494873, 1.5255440473556519, 0.8291810154914856, 0.10648045688867569, 1.443017840385437, 0.1137881800532341, 1.4114911556243896, 1.1259981393814087, 0.5626832842826843, -1.106845498085022, 0.5310240387916565, -0.01618315279483795, 0.005675187800079584, -0.02119590900838375, -0.6822608113288879], "std": [0.040011607110500336, 0.09175531566143036, 0.032561372965574265, 0.13338838517665863, 0.17205676436424255, 0.04796634614467621, 0.025228887796401978, 0.14322523772716522, 0.0329250730574131, 0.15875244140625, 0.03728834539651871, 0.08970343321561813, 0.15060260891914368, 0.027906738221645355, 0.06536146253347397, 0.010845092125236988, 0.18607638776302338, 0.021222636103630066, 0.0006249417783692479, 0.02068020962178707, 0.14454829692840576, 0.016051756218075752, 0.09316196292638779, 0.0368645116686821, 0.007868824526667595, 0.09088721126317978, 0.022233538329601288, 0.016725942492485046, 0.015013034455478191, 0.2453656941652298, 0.17025838792324066, 0.18411089479923248, 0.17845872044563293, 0.4579312801361084, 0.1801251769065857, 0.1402035355567932, 0.15269237756729126, 0.0556320957839489, 0.2215702086687088, 0.16187413036823273, 0.07018576562404633, 0.20338283479213715, 0.02682548016309738, 0.012864924035966396, 0.0716332197189331, 0.16995006799697876, 0.0231027752161026, 0.556100606918335, 0.1485152542591095, 0.28864985704421997, 0.02916121296584606, 0.31428229808807373, 0.13283422589302063, 0.022922273725271225, 0.14046648144721985, 0.021600233390927315, 0.5013404488563538, 0.3910484313964844, 4.333349716034718e-05, 3.523781560943462e-05, 0.006314374040812254, 0.0035582093987613916, 0.0030841839034110308, 0.04338904842734337, 0.06859943270683289], "count": [1586]}, "observation.state.joint_torque": {"min": [-43.30950164794922, -21.346500396728516, -22.83300018310547, -15.07800006866455, -0.2655999958515167, -2.0104000568389893, 0.758400022983551, -1.335930347442627, -1.053207278251648, -0.7331867814064026, -0.7344295382499695, -0.3968012034893036, -0.3358124792575836, -1.0573296546936035, -0.2905448377132416, -0.04423718526959419, -0.5996651649475098, -0.31662318110466003, -0.05644870921969414, -0.05636673793196678, -0.46246176958084106, -0.43463730812072754, -0.09961536526679993, -0.03139413148164749, -0.09543683379888535, -0.428880512714386, -0.5209890604019165, -0.10293588042259216, -0.025686107575893402, 9.607500076293945, -15.918000221252441, 0.10000000149011612, -14.574999809265137, -1.7920000553131104, -2.1967999935150146, -3.1751999855041504, -1.3231950998306274, -0.8596310615539551, -0.9717832803726196, -0.764254093170166, -0.12285894900560379, -0.6975305676460266, -1.2041276693344116, -0.13780125975608826, -0.02925362065434456, -0.38666409254074097, -0.3482854962348938, -0.2673012316226959, -0.02497260272502899, -0.7359090447425842, -0.5574487447738647, -0.2307755947113037, -0.021405089646577835, -0.07696519792079926, -0.6457194089889526, -0.9498696327209473, -0.3088076114654541, -0.0635017603635788, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-11.728500366210938, 24.322500228881836, -2.63100004196167, 5.473999977111816, 2.1744000911712646, 1.6200000047683716, 6.147200107574463, 0.9551456570625305, 1.6186535358428955, 1.509867787361145, 1.2041661739349365, 0.2556794285774231, 1.733751893043518, 0.3473260700702667, 0.9231023788452148, 0.1655326783657074, 0.37035319209098816, 0.29743391275405884, 0.0016602561809122562, 0.019978083670139313, 0.5939083695411682, 0.31566372513771057, 0.2125127911567688, 0.04780469834804535, 0.05849354341626167, 0.4682185649871826, 0.32333946228027344, 0.09961536526679993, 0.014270060695707798, 50.182498931884766, 16.7549991607666, 27.14900016784668, 1.5750000476837158, 0.09759999811649323, 2.7544000148773193, 1.1055999994277954, 1.5804476737976074, 3.080662965774536, 1.5608181953430176, 1.1606720685958862, 0.254019170999527, 1.5552915334701538, 0.5603271126747131, 0.7869613766670227, 0.14341409504413605, 0.4615022838115692, 0.3972181975841522, 0.16934612393379211, 0.021405089646577835, 0.6083003282546997, 1.0189510583877563, 0.151083305478096, 0.025686107575893402, 0.49125784635543823, 0.3626774847507477, 0.4538266062736511, 0.1959102302789688, 0.04281017929315567, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-31.304304122924805, 1.1318820714950562, -14.381080627441406, -5.0290021896362305, 0.3110258877277374, 0.5671968460083008, 2.0290753841400146, -0.09730768203735352, 0.1311195343732834, 0.26842808723449707, 0.16356098651885986, 0.016725046560168266, 0.40244191884994507, -0.20630979537963867, 0.23641064763069153, 0.07454980909824371, 0.0022347501944750547, 0.01446329802274704, -0.00107613077852875, -0.0032377566676586866, 0.017585042864084244, -0.007549871690571308, 0.004435375798493624, 0.0003369566984474659, 0.0001378213637508452, 0.012210482731461525, 0.004725935403257608, 0.0002554284583311528, 0.0002114416565746069, 27.641950607299805, 4.165750026702881, 13.787935256958008, -6.84231424331665, -0.5546020865440369, 1.1017735004425049, -1.1115642786026, 0.09799418598413467, 0.36264193058013916, 0.15893743932247162, -0.0031153627205640078, 0.02618408389389515, 0.21109198033809662, -0.1046748235821724, 0.09176648408174515, 0.021089721471071243, -0.0006727076251991093, -0.005817278753966093, -0.003084977390244603, 0.0004318793653510511, -0.02169802226126194, 0.09469834715127945, 0.0017827346455305815, 0.0005843836115673184, 0.1210823506116867, -0.011560164391994476, -0.1000111773610115, -0.005000659730285406, -0.0005416507483460009, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.8561060428619385, 2.24565052986145, 1.3791276216506958, 1.5652971267700195, 0.2880650758743286, 0.42711183428764343, 0.6941346526145935, 0.26237812638282776, 0.261025995016098, 0.37094029784202576, 0.24347010254859924, 0.04430156573653221, 0.3267836272716522, 0.24805812537670135, 0.18737128376960754, 0.04723970964550972, 0.10513703525066376, 0.059052981436252594, 0.005754571408033371, 0.008232644759118557, 0.1024884581565857, 0.06771323829889297, 0.02301979437470436, 0.007078917231410742, 0.007238317281007767, 0.08475685864686966, 0.0744406133890152, 0.012552029453217983, 0.005362424999475479, 4.780928611755371, 3.507429361343384, 2.201390504837036, 2.5132312774658203, 0.2856003940105438, 0.7412485480308533, 0.7390727996826172, 0.3672691881656647, 0.6959657073020935, 0.30661430954933167, 0.28838133811950684, 0.04773543030023575, 0.41124966740608215, 0.28247785568237305, 0.1642802655696869, 0.032917823642492294, 0.08507084846496582, 0.0760771706700325, 0.023921918123960495, 0.006575363222509623, 0.13453958928585052, 0.22198304533958435, 0.014358320273458958, 0.007264539133757353, 0.12822729349136353, 0.0977158471941948, 0.1831912398338318, 0.024957725778222084, 0.004684170708060265, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1586]}, "observation.state.tcp": {"min": [0.361634761095047, 0.1555144339799881, 1.0209101438522339, -1.2089430093765259, 0.9868282675743103, -1.5594149827957153, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.28164905309677124, -0.3160548508167267, 0.9765578508377075, -0.37863215804100037, 0.9108396768569946, 0.1087973341345787, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.44787856936454773, 0.28912243247032166, 1.1272234916687012, -0.49981093406677246, 1.3484992980957031, -1.2289901971817017, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4657832980155945, -0.07430317252874374, 1.243811011314392, 1.2075227499008179, 2.065397024154663, 1.4507719278335571, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.42125633358955383, 0.18012893199920654, 1.062986135482788, -0.6853685975074768, 1.2309516668319702, -1.3281121253967285, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4045464098453522, -0.19669657945632935, 1.117919921875, 0.3681654930114746, 1.544209599494934, 0.8688956499099731, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.0216623917222023, 0.022577526047825813, 0.017156410962343216, 0.19738587737083435, 0.055290400981903076, 0.07007575035095215, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05734068527817726, 0.07176019251346588, 0.07506298273801804, 0.4657129645347595, 0.23636537790298462, 0.350825697183609, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1586]}, "action": {"min": [0.9414951205253601, -0.885273814201355, -3.557794473585708e-17, 1.060763955116272, -0.5966317653656006, -0.7699999809265137, 0.46761050820350647, 0.0, -0.3110995888710022, 0.0, -0.3490658402442932, 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, 0.20654407143592834, -0.9854922294616699, 0.003309454070404172, 1.1605892181396484, -1.8929612636566162, -0.7662708759307861, -0.33327776193618774, 0.0, -0.3490658402442932, -0.14329509437084198, -0.3042927384376526, 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, 0.5626833438873291, -1.1069231033325195, 0.5223731994628906, -0.02326439693570137, -0.002458560513332486, -0.14378391206264496, -0.8019733428955078], "max": [1.1327662467956543, -0.4858958423137665, 0.22549861669540405, 1.5700000524520874, 0.006203129887580872, -0.374569296836853, 0.6610791683197021, 1.2178847789764404, 0.0, 0.7427449822425842, 0.0, 0.8394710421562195, 1.2711105346679688, 0.19348424673080444, 0.20352572202682495, 0.08996801823377609, 1.3553489446640015, 0.18533462285995483, 0.0, 0.07076442241668701, 0.876242995262146, 0.14583462476730347, 0.8955914974212646, 0.16515222191810608, 0.07345850765705109, 0.7345850467681885, 0.20230430364608765, 0.06429294496774673, 0.0554533451795578, 1.167377233505249, -0.3412488102912903, 0.9177180528640747, 1.839146375656128, -0.005694321822375059, 0.05038053169846535, 0.5153002738952637, 1.3231544494628906, 0.0, 0.4937862455844879, 0.2814961075782776, 0.6187694072723389, 1.5707963705062866, 0.12205808609724045, 0.11107712984085083, 0.48343393206596375, 1.5707963705062866, 0.1956891417503357, 1.7453292608261108, 1.1066232919692993, 1.5707963705062866, 0.2525421977043152, 1.7453292608261108, 0.911616325378418, 0.14615000784397125, 1.5707963705062866, 0.19453853368759155, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.5442397594451904, 1.2931049818245465e-18, 0.010825304314494133, 0.038795411586761475, -0.6000000238418579], "mean": [1.045984148979187, -0.5820726752281189, 0.08840690553188324, 1.1847667694091797, -0.4755687415599823, -0.49219685792922974, 0.5318602919578552, 1.1621055603027344, -0.24818891286849976, 0.60108882188797, -0.33967354893684387, 0.7117384076118469, 1.2230194807052612, 0.17569571733474731, 0.14871111512184143, 0.08644652366638184, 1.2680646181106567, 0.1592855304479599, 0.0, 0.060197826474905014, 0.7964175939559937, 0.07706624269485474, 0.6191607117652893, 0.14534087479114532, 0.06687967479228973, 0.668796718120575, 0.071805939078331, 0.04724514111876488, 0.04049418121576309, 0.9103770852088928, -0.6864705085754395, 0.4419417977333069, 1.3879272937774658, -1.2178142070770264, -0.24186183512210846, -0.07949315011501312, 1.2315651178359985, -0.259378045797348, 0.19931305944919586, -0.0932304710149765, 0.5604604482650757, 1.2511082887649536, 0.06715518236160278, 0.09993600845336914, 0.411440372467041, 1.479365348815918, 0.15305283665657043, 1.4442253112792969, 1.0386364459991455, 1.3595775365829468, 0.14993184804916382, 1.6017465591430664, 0.8302002549171448, 0.12180694937705994, 1.541891098022461, 0.1129670962691307, 1.4746452569961548, 1.1946945190429688, 0.5626831650733948, -1.1068476438522339, 0.5310720801353455, -0.01622648909687996, 0.005717169493436813, -0.021208971738815308, -0.6822873950004578], "std": [0.04006637632846832, 0.0918283686041832, 0.032631129026412964, 0.13342654705047607, 0.1720423847436905, 0.04803260415792465, 0.025322256609797478, 0.16164997220039368, 0.038278087973594666, 0.15927118062973022, 0.048856645822525024, 0.10653103142976761, 0.17148225009441376, 0.029764462262392044, 0.06858424842357635, 0.012488050386309624, 0.201613649725914, 0.025007732212543488, 0.0, 0.02180642820894718, 0.15132156014442444, 0.017551837489008904, 0.10906226187944412, 0.03731127828359604, 0.01019746158272028, 0.10197463631629944, 0.023673608899116516, 0.01820179633796215, 0.015596291050314903, 0.24654275178909302, 0.17028017342090607, 0.1842666119337082, 0.17878219485282898, 0.45793628692626953, 0.1801627278327942, 0.14017583429813385, 0.17300771176815033, 0.06824176758527756, 0.22209224104881287, 0.16306886076927185, 0.08273652195930481, 0.23248088359832764, 0.02748001180589199, 0.015272349119186401, 0.07875731587409973, 0.2190571427345276, 0.02606327272951603, 0.5870851278305054, 0.16294802725315094, 0.3389204144477844, 0.031536560505628586, 0.3533514142036438, 0.14211459457874298, 0.026176817715168, 0.18472044169902802, 0.024772705510258675, 0.5343805551528931, 0.42392176389694214, 1.799938615931751e-07, 1.8097540305461735e-05, 0.006351177580654621, 0.0036382689140737057, 0.003121660789474845, 0.04343942925333977, 0.06867077946662903], "count": [1586]}, "observation.state.tcp_pose": {"min": [0.361634761095047, 0.1555144339799881, 1.0209101438522339, -1.2089430093765259, 0.9868282675743103, -1.5594149827957153, 0.28164905309677124, -0.3160548508167267, 0.9765578508377075, -0.37863215804100037, 0.9108396768569946, 0.1087973341345787], "max": [0.44787856936454773, 0.28912243247032166, 1.1272234916687012, -0.49981093406677246, 1.3484992980957031, -1.2289901971817017, 0.4657832980155945, -0.07430317252874374, 1.243811011314392, 1.2075227499008179, 2.065397024154663, 1.4507719278335571], "mean": [0.42125633358955383, 0.18012893199920654, 1.062986135482788, -0.6853685975074768, 1.2309516668319702, -1.3281121253967285, 0.4045464098453522, -0.19669657945632935, 1.117919921875, 0.3681654930114746, 1.544209599494934, 0.8688956499099731], "std": [0.0216623917222023, 0.022577526047825813, 0.017156410962343216, 0.19738587737083435, 0.055290400981903076, 0.07007575035095215, 0.05734068527817726, 0.07176019251346588, 0.07506298273801804, 0.4657129645347595, 0.23636537790298462, 0.350825697183609], "count": [1586]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.15545102953910828, 1.0208532810211182, -1.2114691734313965, 0.9855653643608093, -1.5605007410049438, 0.28183624148368835, -0.3161129355430603, 0.976300835609436, -0.37856802344322205, 0.9050866365432739, 0.10842395573854446], "max": [0.4478568732738495, 0.2900387644767761, 1.1273717880249023, -0.49969545006752014, 1.3484365940093994, -1.2289544343948364, 0.46593359112739563, -0.07456903904676437, 1.2443231344223022, 1.206143856048584, 2.0654025077819824, 1.4518705606460571], "mean": [0.42126235365867615, 0.18017646670341492, 1.062967300415039, -0.6853705644607544, 1.2308710813522339, -1.3280842304229736, 0.4044732451438904, -0.19687168300151825, 1.1179715394973755, 0.36867350339889526, 1.543899416923523, 0.8685104846954346], "std": [0.02168113924562931, 0.02266601473093033, 0.01721908710896969, 0.19735467433929443, 0.055422235280275345, 0.07014451920986176, 0.057558491826057434, 0.07203460484743118, 0.07525195926427841, 0.46595659852027893, 0.23618267476558685, 0.35087066888809204], "count": [1586]}, "subtask_index": {"min": [0], "max": [21], "mean": [10.21374527112232], "std": [7.27528162995347], "count": [1586]}, "observation.tactile": {"min": [-8.546821594238281, -0.00732421875, 0.0, -0.26111412048339844, -0.030379295349121094, -0.17249774932861328, -0.0401763916015625, -0.001373291015625, -0.001953125, -0.4323892593383789, -0.019870758056640625, -0.0006191730499267578, -0.5903778076171875, -0.02484130859375, -0.00396728515625, -0.01993274688720703, -0.004023075103759766, -0.009584188461303711, -0.011638641357421875, -0.00933837890625, -0.00189208984375, -0.027197837829589844, -0.0032939910888671875, -0.0006105899810791016, -0.011201858520507812, -0.003570556640625, -0.002197265625, -9.72747802734375e-05, -0.0005650520324707031, -0.00022149085998535156, -1.1192970275878906, -0.022918701171875, -0.01141357421875, -0.4351034164428711, -0.0633091926574707, -0.03929734230041504, -6.204681396484375, -0.00543212890625, -0.01605224609375, -0.1333627700805664, -0.026899337768554688, -0.10928964614868164, -0.024412155151367188, -0.00616455078125, -0.0054931640625, -0.00024700164794921875, -0.001186370849609375, -0.0005567073822021484, -0.0316619873046875, -0.010955810546875, -0.01080322265625, -0.000423431396484375, -0.0011587142944335938, -0.0006175041198730469, -0.015008926391601562, -0.002227783203125, -0.00531005859375, -0.0002193450927734375, -0.0011129379272460938, -0.000457763671875], "max": [0.7197799682617188, 10.19317626953125, 10.37860107421875, 0.0006895065307617188, 0.0009860992431640625, 0.01808452606201172, 5.9862518310546875, 13.509063720703125, 28.8748779296875, 0.0006771087646484375, 0.040279388427734375, 0.0978095531463623, 1.0009307861328125, 0.67071533203125, 1.15985107421875, 0.0026006698608398438, 0.005467891693115234, 0.014684915542602539, 1.8525886535644531, 0.60577392578125, 1.52703857421875, 0.000713348388671875, 0.011468887329101562, 0.027632951736450195, 0.0034770965576171875, 0.005828857421875, 0.005126953125, 0.0007228851318359375, 0.00013780593872070312, 7.224082946777344e-05, 6.274257659912109, 23.172637939453125, 22.81390380859375, 0.0028390884399414062, 0.0387721061706543, 0.14026808738708496, 1.487701416015625, 8.33673095703125, 8.5277099609375, 0.0038404464721679688, 0.0072193145751953125, 0.02843618392944336, 0.024003982543945312, 0.0167236328125, 0.032135009765625, 0.0013294219970703125, 0.000335693359375, 8.487701416015625e-05, 0.0291290283203125, 0.029998779296875, 0.01324462890625, 0.0009975433349609375, 0.0002994537353515625, 3.337860107421875e-05, 0.013906478881835938, 0.0171356201171875, 0.008056640625, 0.001209259033203125, 9.5367431640625e-05, 3.8623809814453125e-05], "mean": [-4.543132305145264, 4.3345723152160645, 3.230311632156372, -0.07843530178070068, -0.007692277897149324, -0.09972847253084183, 1.521336555480957, 2.113065481185913, 6.210350036621094, -0.10147181153297424, 0.0020417182240635157, 0.02563045732676983, -0.010499363765120506, 0.014904353767633438, 0.06504419445991516, -0.0010212934575974941, 0.00012423396401572973, -9.677216439740732e-05, 0.09493234753608704, 0.02512124925851822, 0.0757669135928154, -0.0012937427964061499, 0.00016144335677381605, 0.0010719189886003733, -0.00127755559515208, 0.0017184033058583736, 0.0013849131064489484, 0.0002660895697772503, -7.050245039863512e-05, 5.317065188137349e-07, 0.7379345297813416, 2.810001850128174, 3.0524394512176514, -0.06600601226091385, -0.003092435421422124, 0.01368020661175251, -0.8492298722267151, 1.1801373958587646, 1.4230132102966309, -0.024584347382187843, -0.001644400297664106, -0.016666002571582794, 0.00385685614310205, 0.0005294876755215228, 0.0004428897227626294, 0.0005033338093198836, -0.0004566644784063101, -0.00023026176495477557, 0.008285250514745712, 0.0009913210524246097, -0.0007681347778998315, 0.0003741542168427259, -0.0005126552423462272, -0.0003169116680510342, 0.0014379459898918867, 0.001247151056304574, 0.0014288229867815971, 0.00026343780336901546, -0.00019694818183779716, -0.00011483890557428822], "std": [2.4405813217163086, 2.5479824542999268, 2.1244957447052, 0.05392676219344139, 0.0064231641590595245, 0.05185750126838684, 1.2220131158828735, 2.1986072063446045, 4.857193470001221, 0.07474209368228912, 0.007384034804999828, 0.02000284194946289, 0.1470489501953125, 0.05689624324440956, 0.17364798486232758, 0.002996568102389574, 0.0009350460022687912, 0.0023324883077293634, 0.2155812680721283, 0.07734418660402298, 0.22132208943367004, 0.0037413649260997772, 0.0016716807149350643, 0.0035127908922731876, 0.0008583951857872307, 0.0013155981432646513, 0.0011609805515035987, 0.00010702186409616843, 8.635873382445425e-05, 3.278713847976178e-05, 1.5604990720748901, 5.055126667022705, 4.927737236022949, 0.10616380721330643, 0.009858015924692154, 0.031632158905267715, 1.355065941810608, 1.8194661140441895, 2.084951400756836, 0.036851271986961365, 0.0035885623656213284, 0.02697036974132061, 0.007655095774680376, 0.0015458917478099465, 0.002189452527090907, 0.000301939930068329, 0.0002913112402893603, 0.00012517480354290456, 0.006379811093211174, 0.001974632265046239, 0.0029858003836125135, 0.00022519320191349834, 0.00024542896426282823, 0.00011379636271158233, 0.0024730153381824493, 0.001054398133419454, 0.002016819082200527, 0.00021930350339971483, 0.0002093321963911876, 9.448423224966973e-05], "count": [1586]}, "timestamp": {"min": [0.0], "max": [52.833333333333336], "mean": [26.416666666666664], "std": [15.26128908200236], "count": [1586]}, "frame_index": {"min": [0], "max": [1585], "mean": [792.5], "std": [457.8386724600708], "count": [1586]}, "episode_index": {"min": [45], "max": [45], "mean": [45.0], "std": [0.0], "count": [1586]}, "index": {"min": [70235], "max": [71820], "mean": [71027.5], "std": [457.8386724600708], "count": [1586]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1586]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34392115473747253]], [[0.3432416021823883]], [[0.3429439067840576]]], "std": [[[0.2172330915927887]], [[0.21721863746643066]], [[0.21712535619735718]]], "count": [1586]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3052482306957245]], [[0.30618637800216675]], [[0.3030729591846466]]], "std": [[[0.17126230895519257]], [[0.17314597964286804]], [[0.171636700630188]]], "count": [1586]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3086501955986023]], [[0.30753567814826965]], [[0.30622801184654236]]], "std": [[[0.17437320947647095]], [[0.1748131662607193]], [[0.1739874631166458]]], "count": [1586]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3417970836162567]], [[0.34111323952674866]], [[0.34095191955566406]]], "std": [[[0.21700598299503326]], [[0.21703939139842987]], [[0.21702945232391357]]], "count": [1586]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7960784435272217]], [[0.7960784435272217]], [[0.7960784435272217]]], "mean": [[[0.008175848983228207]], [[0.008175848983228207]], [[0.008175848983228207]]], "std": [[[0.06244742497801781]], [[0.06244742497801781]], [[0.06244742497801781]]], "count": [1586]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47424668073654175]], [[0.47424668073654175]], [[0.47424668073654175]]], "std": [[[0.1526772528886795]], [[0.1526772528886795]], [[0.1526772528886795]]], "count": [1586]}}}
+{"episode_index": 46, "stats": {"observation.state": {"min": [0.9258782863616943, -0.8200236558914185, -3.5952675716544036e-06, 1.1034096479415894, -0.6416069865226746, -0.7700120806694031, 0.41762280464172363, 0.00759331276640296, -0.299999862909317, -0.09873490780591965, -0.32670003175735474, 0.0026180921122431755, 0.003254092764109373, -0.0001454713783459738, 0.003514427226036787, 0.0008544759475626051, 0.003949313424527645, -0.0006422325968742371, 0.0067785331048071384, 0.0008429468725807965, 0.003279360244050622, 4.759113653562963e-05, 0.0030166208744049072, 0.0008735430892556906, 0.0061983875930309296, 0.0032543381676077843, 8.242552576120943e-05, 0.006553031038492918, 0.0008651180542074144, 0.3852478265762329, -1.047867774963379, 0.0018822423880919814, 1.179922342300415, -1.7668523788452148, -0.7680692672729492, -0.38977792859077454, 0.017868053168058395, -0.31982341408729553, -0.1619253307580948, -0.31602561473846436, 0.006898375228047371, 0.01339783426374197, -1.9379893274162896e-05, 0.003485707566142082, 0.0012180827325209975, 0.019793910905718803, -0.0002803932293318212, 0.0034218861255794764, 0.004865679424256086, 0.008656891994178295, 0.0008193496032617986, 0.009511858224868774, 0.0018184772925451398, 0.004946080036461353, 0.03677333518862724, 0.0004835141880903393, 0.0067785331048071384, 0.0008442771504633129, 0.5624915957450867, -1.1069588661193848, 0.5092816352844238, -0.02991262450814247, -0.003739078063517809, -0.14112623035907745, -0.8530850410461426], "max": [1.1131216287612915, -0.5098389983177185, 0.24656692147254944, 1.5699974298477173, 1.4740596270712558e-05, -0.47749751806259155, 0.6427590847015381, 1.2134068012237549, 0.000894351105671376, 0.7961471676826477, -0.005162391345947981, 0.9776610136032104, 1.3509776592254639, 0.20392006635665894, 0.04151824861764908, 0.09185328334569931, 1.3900823593139648, 0.22688621282577515, 0.006850863806903362, 0.07315368950366974, 0.9916958808898926, 0.18228735029697418, 0.869338870048523, 0.19347915053367615, 0.05963125079870224, 0.8109745979309082, 0.2144293636083603, 0.07454364746809006, 0.06446482241153717, 1.1592859029769897, -0.3491348326206207, 0.747018575668335, 1.8404428958892822, -0.0025806829798966646, 0.24467532336711884, 0.5175588726997375, 1.3194242715835571, -0.00011400671064620838, 0.5283609628677368, 0.30647513270378113, 0.6222553253173828, 1.4661823511123657, 0.12174895405769348, 0.10801616311073303, 0.4756145179271698, 1.4666818380355835, 0.1725454181432724, 1.6533632278442383, 1.2896449565887451, 1.4666855335235596, 0.20083554089069366, 1.6536787748336792, 0.9752838015556335, 0.1530405580997467, 1.466633677482605, 0.14676237106323242, 1.6534221172332764, 1.3081064224243164, 0.5631626844406128, -1.1065753698349, 0.544083833694458, 0.0, 0.016202671453356743, 0.0541686974465847, -0.5770643949508667], "mean": [1.034203052520752, -0.5902023315429688, 0.09628154337406158, 1.211654543876648, -0.5307204127311707, -0.6222941875457764, 0.5178384184837341, 1.1582152843475342, -0.2436278611421585, 0.6284838914871216, -0.30886033177375793, 0.7016677260398865, 1.2853660583496094, 0.17676781117916107, 0.013283763080835342, 0.084353968501091, 1.3205389976501465, 0.16873712837696075, 0.006802258547395468, 0.06066177412867546, 0.9199106097221375, 0.09139151126146317, 0.4522385895252228, 0.17038443684577942, 0.05667373165488243, 0.7475454807281494, 0.1339864879846573, 0.047270309180021286, 0.04110579565167427, 0.8848636150360107, -0.6954898238182068, 0.428667813539505, 1.4191761016845703, -1.2119688987731934, -0.2558008134365082, -0.11481194198131561, 1.2330849170684814, -0.24749252200126648, 0.22464363276958466, -0.11474742740392685, 0.5664920210838318, 1.2541673183441162, 0.07136013358831406, 0.09644343703985214, 0.4125901460647583, 1.4100964069366455, 0.1546836644411087, 1.3555941581726074, 1.1438614130020142, 1.3404066562652588, 0.14711901545524597, 1.5257501602172852, 0.8662023544311523, 0.11213994771242142, 1.4402579069137573, 0.11912041157484055, 1.437958836555481, 1.1415807008743286, 0.5626824498176575, -1.1068482398986816, 0.5203139781951904, -0.019695986062288284, 0.005574890878051519, -0.019925139844417572, -0.7057889103889465], "std": [0.03331063315272331, 0.07371125370264053, 0.03803590312600136, 0.11569464951753616, 0.17033736407756805, 0.042820267379283905, 0.03865644708275795, 0.1454101949930191, 0.03276019170880318, 0.2215254008769989, 0.038624994456768036, 0.10610688477754593, 0.16846942901611328, 0.03313402459025383, 0.011912476271390915, 0.011227928102016449, 0.19654662907123566, 0.025093112140893936, 9.909852451528423e-06, 0.020883817225694656, 0.17626023292541504, 0.01967761665582657, 0.11053601652383804, 0.04532701149582863, 0.009095828980207443, 0.11333895474672318, 0.028210841119289398, 0.021128840744495392, 0.018268197774887085, 0.24684786796569824, 0.1744869351387024, 0.165107861161232, 0.18744221329689026, 0.40164992213249207, 0.19891107082366943, 0.16344477236270905, 0.1559659093618393, 0.06399377435445786, 0.20524252951145172, 0.1507512629032135, 0.07508044689893723, 0.22720684111118317, 0.027212174609303474, 0.013408925384283066, 0.0721755176782608, 0.18103541433811188, 0.025115547701716423, 0.5281354188919067, 0.2053193598985672, 0.29443609714508057, 0.0242630448192358, 0.3193371593952179, 0.15546758472919464, 0.026956327259540558, 0.14978542923927307, 0.022715719416737556, 0.5162563920021057, 0.405182421207428, 5.063218850409612e-05, 4.150296445004642e-05, 0.00651811296120286, 0.005939563270658255, 0.004719771910458803, 0.040017325431108475, 0.08715112507343292], "count": [1553]}, "observation.state.joint_torque": {"min": [-45.24300003051758, -12.239999771118164, -22.33300018310547, -13.503000259399414, -0.052000001072883606, -0.823199987411499, 1.1208000183105469, -1.9701471328735352, -0.6354902386665344, -1.2414467334747314, -0.9581136703491211, -0.4051024913787842, -0.30415016412734985, -1.0592485666275024, -0.10293588042259216, -0.044950686395168304, -0.40105605125427246, -0.44902923703193665, -0.006641024723649025, -0.022118592634797096, -0.40873175859451294, -0.5823947787284851, -0.09131408482789993, -0.028540121391415596, -0.08224280178546906, -0.40393444895744324, -0.45094817876815796, -0.11123716086149216, -0.027113113552331924, 13.053000450134277, -3.805500030517578, 3.0429999828338623, -13.491000175476074, -1.885599970817566, -2.135200023651123, -3.432800054550171, -1.2684334516525269, -0.9933514595031738, -0.6598681807518005, -1.2128651142120361, -0.22413457930088043, -0.5833542346954346, -1.0611674785614014, -0.10127562284469604, -0.028540121391415596, -0.4547860622406006, -0.4634212255477905, -0.4150640070438385, -0.01855107769370079, -0.5248269438743591, -0.5833542346954346, -0.7686985731124878, -0.025686107575893402, -0.07608558982610703, -0.49124571681022644, -0.800193190574646, -0.3453332483768463, -0.0699232965707779, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-13.92300033569336, 18.61949920654297, -5.785999774932861, 1.3940000534057617, 1.9615999460220337, 1.6119999885559082, 5.833600044250488, 2.0236353874206543, 3.3506507873535156, 1.8329671621322632, 1.4290928840637207, 0.4316665828227997, 1.7606168985366821, 0.3463665843009949, 0.5744485855102539, 0.17052720487117767, 0.6121382117271423, 0.4355967938899994, 0.004980768077075481, 0.07349080592393875, 0.6092597842216492, 0.26673105359077454, 0.23575636744499207, 0.01783757284283638, 0.0457393117249012, 0.42216426134109497, 0.2580958902835846, 0.0796922892332077, 0.019264578819274902, 45.46049880981445, 14.015999794006348, 26.323999404907227, -1.1959999799728394, 0.4392000138759613, 3.1928000450134277, 0.5576000213623047, 1.9688736200332642, 3.3952243328094482, 1.4054819345474243, 0.9220756888389587, 0.44494864344596863, 1.9784151315689087, 0.515232264995575, 0.8683139681816101, 0.16481918096542358, 0.5641649961471558, 0.39146140217781067, 0.20753200352191925, 0.02996712550520897, 0.9824913144111633, 1.01319420337677, 0.1593845784664154, 0.021405089646577835, 0.49125784635543823, 0.2820824980735779, 0.3271772861480713, 0.2739422619342804, 0.05850724130868912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-31.04316520690918, 1.2381418943405151, -14.449348449707031, -4.951347827911377, 0.4602968096733093, 0.6899362802505493, 1.9058200120925903, 0.31831949949264526, 0.7785249352455139, 0.7083286643028259, 0.4962659180164337, 0.08218316733837128, 0.7667306065559387, -0.38913190364837646, 0.02066078409552574, 0.09381528943777084, 0.02688305638730526, 0.02170809917151928, 8.55250982567668e-06, 0.018854286521673203, 0.03511790558695793, -0.02516600675880909, 0.0014165074098855257, -0.0005591322551481426, 0.00016368651995435357, 0.03542860224843025, 0.017789943143725395, 0.002986969891935587, 0.0011389413848519325, 27.25826072692871, 4.25205135345459, 13.961600303649902, -7.006484508514404, -0.6363542675971985, 1.1246274709701538, -1.1244521141052246, 0.08896728605031967, 0.42433851957321167, 0.129995197057724, 0.05137835815548897, 0.033284224569797516, 0.21251466870307922, -0.13817578554153442, 0.10185408592224121, 0.024201642721891403, 0.012869033962488174, 0.0012071883538737893, 0.006308551877737045, -0.00023798327310942113, -0.00553065724670887, 0.11974702775478363, 0.0013812306569889188, 0.00027703988598659635, 0.1295863538980484, -0.014018195681273937, -0.07093722373247147, 0.002360494341701269, 0.0002650948299560696, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.5251383781433105, 1.8968349695205688, 1.285943627357483, 1.2692720890045166, 0.23798821866512299, 0.4378981590270996, 0.5410261154174805, 0.6734259128570557, 0.796393096446991, 0.5229318141937256, 0.4521159827709198, 0.0870489776134491, 0.4225718677043915, 0.3799939751625061, 0.07585971057415009, 0.049976907670497894, 0.09529457986354828, 0.08278543502092361, 0.0003151539131067693, 0.017884178087115288, 0.12308574467897415, 0.08660630881786346, 0.021718982607126236, 0.0066617256961762905, 0.006161851342767477, 0.08615230768918991, 0.0704985186457634, 0.015321685001254082, 0.007289782632142305, 4.904872894287109, 3.2337615489959717, 2.208869218826294, 2.540745735168457, 0.2789646089076996, 0.7698280215263367, 0.7092669606208801, 0.40682512521743774, 0.8158895969390869, 0.3052157759666443, 0.27504342794418335, 0.08054487407207489, 0.3867355287075043, 0.2784731388092041, 0.15806958079338074, 0.0352209247648716, 0.07717186212539673, 0.069503054022789, 0.03413587063550949, 0.005617055110633373, 0.11194279789924622, 0.21287916600704193, 0.024514727294445038, 0.007589043118059635, 0.10757401585578918, 0.0739472284913063, 0.14630292356014252, 0.024600496515631676, 0.0045123640447855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1553]}, "observation.state.tcp": {"min": [0.3617459833621979, 0.1548302322626114, 1.0375237464904785, -1.2089191675186157, 0.9196236729621887, -1.4972405433654785, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2829033434391022, -0.3005111813545227, 0.9886597394943237, -0.28407055139541626, 1.0845924615859985, 0.04219214990735054, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4309753179550171, 0.2607148587703705, 1.145411729812622, -0.4809993803501129, 1.3243257999420166, -1.1466586589813232, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.45431163907051086, -0.06618905067443848, 1.2565901279449463, 1.2080012559890747, 2.1504464149475098, 1.5096603631973267, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4141102135181427, 0.18307673931121826, 1.06967294216156, -0.6553662419319153, 1.1582525968551636, -1.2324074506759644, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3915110230445862, -0.19167929887771606, 1.1124982833862305, 0.3873452842235565, 1.578221321105957, 0.8502982258796692, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.017438795417547226, 0.017530666664242744, 0.01824476383626461, 0.1798231303691864, 0.05856794863939285, 0.08575538545846939, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05946659669280052, 0.07244732975959778, 0.07756849378347397, 0.4159468114376068, 0.2552098333835602, 0.40618088841438293, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1553]}, "action": {"min": [0.9258674383163452, -0.8201169967651367, -7.406995412550987e-18, 1.1034283638000488, -0.6415972709655762, -0.7699999809265137, 0.4176326394081116, 0.0, -0.2971978783607483, -0.10337015241384506, -0.3490658402442932, 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, 0.3852268159389496, -1.0488897562026978, 0.002573851030319929, 1.1798697710037231, -1.7669332027435303, -0.7673289775848389, -0.3899170458316803, 0.0, -0.3490658402442932, -0.1644832044839859, -0.32989102602005005, 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, 0.5626833438873291, -1.1069231033325195, 0.5082834362983704, -0.0302414670586586, -0.003825871041044593, -0.14138472080230713, -0.853171169757843], "max": [1.1131789684295654, -0.5097112655639648, 0.24664869904518127, 1.5700000524520874, -6.677258330517931e-19, -0.4773552715778351, 0.6430334448814392, 1.2170219421386719, 0.0, 0.8048616647720337, 0.0, 0.9840583801269531, 1.3574225902557373, 0.19597667455673218, 0.051108334213495255, 0.09123344719409943, 1.4002859592437744, 0.22895759344100952, 0.0, 0.0746663361787796, 0.9993517994880676, 0.17967814207077026, 0.8772309422492981, 0.19531427323818207, 0.08211591094732285, 0.8211591839790344, 0.2158225178718567, 0.080533966422081, 0.0686839297413826, 1.1593236923217773, -0.3490866422653198, 0.747184693813324, 1.8405845165252686, -0.004480161238461733, 0.24494212865829468, 0.5156463980674744, 1.3209495544433594, 0.0, 0.5352038145065308, 0.32837849855422974, 0.6280691623687744, 1.5707963705062866, 0.12723535299301147, 0.1124744862318039, 0.4804430305957794, 1.5707963705062866, 0.1745690107345581, 1.7453292608261108, 1.2925705909729004, 1.5707963705062866, 0.20134562253952026, 1.7453292608261108, 0.9784877300262451, 0.15672490000724792, 1.5707963705062866, 0.15225833654403687, 1.7453292608261108, 1.3962633609771729, 0.5627787709236145, -1.106863021850586, 0.5442397594451904, 1.7789587945400644e-19, 0.017358312383294106, 0.05494861677289009, -0.5764243602752686], "mean": [1.0342223644256592, -0.5902276635169983, 0.09631317853927612, 1.211727261543274, -0.5308103561401367, -0.6222929358482361, 0.5179489850997925, 1.1579103469848633, -0.23845750093460083, 0.6348915696144104, -0.3405560553073883, 0.7048236727714539, 1.292459487915039, 0.1751258224248886, 0.012271846644580364, 0.08706805855035782, 1.3252651691436768, 0.16953545808792114, 0.0, 0.06421969085931778, 0.9230329990386963, 0.09380023926496506, 0.45651769638061523, 0.17161136865615845, 0.0752466470003128, 0.7524661421775818, 0.13517442345619202, 0.05119672045111656, 0.04387857764959335, 0.8859354853630066, -0.6960046887397766, 0.42822808027267456, 1.4192147254943848, -1.212037444114685, -0.25628218054771423, -0.11487194895744324, 1.2343003749847412, -0.2500605881214142, 0.22595611214637756, -0.11498574167490005, 0.5684519410133362, 1.272615671157837, 0.07171350717544556, 0.0995912179350853, 0.41487061977386475, 1.4994633197784424, 0.15507377684116364, 1.4017809629440308, 1.1452511548995972, 1.4273147583007812, 0.14902430772781372, 1.6024752855300903, 0.8679742217063904, 0.1273471862077713, 1.5334837436676025, 0.11951712518930435, 1.5105587244033813, 1.2153923511505127, 0.5626834034919739, -1.1068483591079712, 0.5203619599342346, -0.01974380388855934, 0.005603867117315531, -0.01993018388748169, -0.7058213949203491], "std": [0.03329052776098251, 0.07377582788467407, 0.038144905120134354, 0.11583355069160461, 0.17021968960762024, 0.042839616537094116, 0.03854648396372795, 0.16304905712604523, 0.03602326661348343, 0.2250567227602005, 0.04944648966193199, 0.1219279021024704, 0.18514151871204376, 0.03419852256774902, 0.014238221570849419, 0.012772918678820133, 0.21125154197216034, 0.028271885588765144, 0.0, 0.02253386378288269, 0.18362726271152496, 0.021542364731431007, 0.12183710932731628, 0.045729655772447586, 0.012297091074287891, 0.12297096103429794, 0.03095126897096634, 0.021664803847670555, 0.01857198216021061, 0.2475009560585022, 0.17482192814350128, 0.1652067005634308, 0.1876637190580368, 0.4017293155193329, 0.19907662272453308, 0.16334068775177002, 0.17473360896110535, 0.07307946681976318, 0.2059335559606552, 0.1531955897808075, 0.08577478677034378, 0.2532472610473633, 0.02777835913002491, 0.015522105619311333, 0.07874345779418945, 0.22490453720092773, 0.027928659692406654, 0.5534158945083618, 0.21429343521595, 0.3373959958553314, 0.027161920443177223, 0.35560792684555054, 0.16190901398658752, 0.02825673297047615, 0.19150251150131226, 0.024715065956115723, 0.5485114455223083, 0.4366860091686249, 4.696522864833241e-06, 1.7487373042968102e-05, 0.0066002183593809605, 0.005982191767543554, 0.0047658891417086124, 0.04009556025266647, 0.08723793178796768], "count": [1553]}, "observation.state.tcp_pose": {"min": [0.3617459833621979, 0.1548302322626114, 1.0375237464904785, -1.2089191675186157, 0.9196236729621887, -1.4972405433654785, 0.2829033434391022, -0.3005111813545227, 0.9886597394943237, -0.28407055139541626, 1.0845924615859985, 0.04219214990735054], "max": [0.4309753179550171, 0.2607148587703705, 1.145411729812622, -0.4809993803501129, 1.3243257999420166, -1.1466586589813232, 0.45431163907051086, -0.06618905067443848, 1.2565901279449463, 1.2080012559890747, 2.1504464149475098, 1.5096603631973267], "mean": [0.4141102135181427, 0.18307673931121826, 1.06967294216156, -0.6553662419319153, 1.1582525968551636, -1.2324074506759644, 0.3915110230445862, -0.19167929887771606, 1.1124982833862305, 0.3873452842235565, 1.578221321105957, 0.8502982258796692], "std": [0.017438795417547226, 0.017530666664242744, 0.01824476383626461, 0.1798231303691864, 0.05856794863939285, 0.08575538545846939, 0.05946659669280052, 0.07244732975959778, 0.07756849378347397, 0.4159468114376068, 0.2552098333835602, 0.40618088841438293], "count": [1553]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.15470103919506073, 1.0377705097198486, -1.208855390548706, 0.9190021753311157, -1.497420072555542, 0.2825164496898651, -0.3008286952972412, 0.9884880185127258, -0.2839149236679077, 1.0816692113876343, 0.04195272549986839], "max": [0.43097254633903503, 0.2607121467590332, 1.1456739902496338, -0.48072168231010437, 1.324806571006775, -1.144874930381775, 0.45476001501083374, -0.06611848622560501, 1.2566708326339722, 1.2061675786972046, 2.1506128311157227, 1.5220746994018555], "mean": [0.41411158442497253, 0.18308819830417633, 1.0696810483932495, -0.6552489399909973, 1.1581382751464844, -1.2325117588043213, 0.3915940821170807, -0.19187025725841522, 1.1129268407821655, 0.38693806529045105, 1.5772944688796997, 0.8494738340377808], "std": [0.017466016113758087, 0.017508400604128838, 0.018255703151226044, 0.17948541045188904, 0.0584963895380497, 0.08580709248781204, 0.05960327386856079, 0.07271574437618256, 0.07774870842695236, 0.4162600040435791, 0.25452545285224915, 0.4063393175601959], "count": [1553]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.616226658081134], "std": [6.832428597956897], "count": [1553]}, "observation.tactile": {"min": [-8.867057800292969, -0.0091552734375, 0.0, -0.2867603302001953, -0.03957796096801758, -0.17762136459350586, -0.4766826629638672, -0.007110595703125, -0.0064697265625, -0.2984437942504883, -0.0023360252380371094, -0.008042097091674805, -0.07646369934082031, -0.012725830078125, -0.0052490234375, -0.2567911148071289, -0.01696300506591797, -0.004309415817260742, -0.03485870361328125, -0.010711669921875, -0.01507568359375, -0.015387535095214844, -0.007999897003173828, -0.0015647411346435547, -0.0031890869140625, -0.0010223388671875, -0.00250244140625, -2.09808349609375e-05, -0.000766754150390625, -0.00023746490478515625, -1.0782394409179688, -0.02972412109375, -0.0098876953125, -0.3657712936401367, -0.0641012191772461, -0.044950008392333984, -8.90689468383789, -0.01153564453125, 0.0, -0.1336507797241211, -0.02891063690185547, -0.12101435661315918, -0.014635086059570312, -0.00701904296875, -0.00543212890625, -0.00016021728515625, -0.0012888908386230469, -0.0005369186401367188, -0.007663726806640625, -0.00921630859375, -0.02386474609375, -0.0001316070556640625, -0.001728057861328125, -0.0006198883056640625, -0.015987396240234375, -0.00372314453125, -0.0067138671875, -0.00016021728515625, -0.0011138916015625, -0.0005009174346923828], "max": [0.31116485595703125, 11.599578857421875, 10.52716064453125, 0.0013551712036132812, 0.0010771751403808594, 0.01013803482055664, 6.251344680786133, 7.433807373046875, 19.68597412109375, 0.00067138671875, 0.02609872817993164, 0.10401082038879395, 5.79572868347168, 11.076751708984375, 17.0570068359375, 0.0025205612182617188, 0.013897895812988281, 0.10026288032531738, 2.0488510131835938, 0.6761474609375, 1.1373291015625, 0.0017366409301757812, 0.007983684539794922, 0.01821160316467285, 0.00673675537109375, 0.008544921875, 0.00567626953125, 0.0009517669677734375, 6.961822509765625e-05, 3.4332275390625e-05, 4.969612121582031, 27.578857421875, 21.0638427734375, 0.006012916564941406, 0.020417213439941406, 0.07611322402954102, 0.8582420349121094, 8.343841552734375, 6.79833984375, 0.007519721984863281, 0.003975868225097656, 0.01802372932434082, 0.026807785034179688, 0.019317626953125, 0.007080078125, 0.0014133453369140625, 0.00017547607421875, 0.0, 0.029987335205078125, 0.036102294921875, 0.00372314453125, 0.0016431808471679688, 0.0003752708435058594, 7.450580596923828e-05, 0.014484405517578125, 0.029296875, 0.00872802734375, 0.001300811767578125, 5.0067901611328125e-05, 2.4318695068359375e-05], "mean": [-6.765169620513916, 7.922650337219238, 6.761879920959473, -0.16764205694198608, -0.019212694838643074, -0.13095293939113617, 1.5457183122634888, 1.886325478553772, 7.670999050140381, -0.10468637943267822, 0.010305115953087807, 0.020691657438874245, 1.665385127067566, 1.4158281087875366, 3.0618371963500977, -0.05178700387477875, -0.005570751149207354, 0.02940072864294052, 0.04910527914762497, 0.019239839166402817, 0.023542826995253563, -3.4429300285410136e-05, -0.0007978247012943029, 0.00013744655007030815, -0.0008751021232455969, 0.0031194938346743584, 0.0015057172859087586, 0.0004112086317036301, -0.00022864081256557256, -6.383814616128802e-05, 0.8017242550849915, 2.3902010917663574, 2.870960235595703, -0.062382448464632034, -0.0025927794631570578, 0.01268808264285326, -1.1321978569030762, 1.1675957441329956, 1.3246532678604126, -0.024329068139195442, -0.0027891388162970543, -0.020597942173480988, 0.006780522409826517, -0.0003892022941727191, 0.0001079217909136787, 0.000567543669603765, -0.0004982432583346963, -0.0002610625233501196, 0.013123651966452599, 0.006246503908187151, -0.01503720786422491, 0.001021506730467081, -0.0010740654543042183, -0.0002998328418470919, 0.0011820918880403042, 4.806567812920548e-05, -0.0007560813683085144, 0.0005134833045303822, -0.0003356150700710714, -0.00015104869089554995], "std": [2.8510491847991943, 3.675236940383911, 3.15608811378479, 0.08100178837776184, 0.010164727456867695, 0.05515429750084877, 1.2435367107391357, 1.3090438842773438, 4.347986221313477, 0.05955812707543373, 0.006192756816744804, 0.020618321374058723, 1.023686170578003, 1.6763873100280762, 2.539283275604248, 0.03896993771195412, 0.003587756073102355, 0.01741383597254753, 0.21919910609722137, 0.07391034811735153, 0.11072620004415512, 0.0017516071675345302, 0.0011830647708848119, 0.0020192160736769438, 0.0011751607526093721, 0.001402156543917954, 0.0011897225631400943, 0.00013824128836859018, 0.00013098370982334018, 4.7584726416971534e-05, 1.1295390129089355, 4.026590347290039, 4.055530548095703, 0.08410105854272842, 0.008629067800939083, 0.018812257796525955, 1.8101884126663208, 1.8287616968154907, 1.6982287168502808, 0.031386569142341614, 0.0042001656256616116, 0.031054038554430008, 0.005839500110596418, 0.0014623758615925908, 0.0017866031266748905, 0.0003431910590734333, 0.0003437011910136789, 0.00012255553156137466, 0.005226790439337492, 0.0029479479417204857, 0.0031063181813806295, 0.00022452887787949294, 0.00025524944067001343, 9.382252756040543e-05, 0.004065228160470724, 0.0011844555847346783, 0.0018041046569123864, 0.0002488291938789189, 0.00023729706299491227, 9.580246114637703e-05], "count": [1553]}, "timestamp": {"min": [0.0], "max": [51.733333333333334], "mean": [25.866666666666667], "std": [14.94374636948699], "count": [1553]}, "frame_index": {"min": [0], "max": [1552], "mean": [776.0], "std": [448.31239108460966], "count": [1553]}, "episode_index": {"min": [46], "max": [46], "mean": [46.0], "std": [0.0], "count": [1553]}, "index": {"min": [71821], "max": [73373], "mean": [72597.0], "std": [448.31239108460966], "count": [1553]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1553]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34429991245269775]], [[0.3436530828475952]], [[0.343576043844223]]], "std": [[[0.2183956652879715]], [[0.2183695137500763]], [[0.21838748455047607]]], "count": [1553]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30619269609451294]], [[0.30794405937194824]], [[0.30535057187080383]]], "std": [[[0.1726474016904831]], [[0.17490129172801971]], [[0.17352749407291412]]], "count": [1553]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30909299850463867]], [[0.30828240513801575]], [[0.3060987889766693]]], "std": [[[0.17417261004447937]], [[0.17497500777244568]], [[0.17313224077224731]]], "count": [1553]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3423013687133789]], [[0.34166932106018066]], [[0.34170597791671753]]], "std": [[[0.2185366004705429]], [[0.2185775339603424]], [[0.21863731741905212]]], "count": [1553]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7450980544090271]], [[0.7450980544090271]], [[0.7450980544090271]]], "mean": [[[0.011358940042555332]], [[0.011358940042555332]], [[0.011358940042555332]]], "std": [[[0.07303418964147568]], [[0.07303418964147568]], [[0.07303418964147568]]], "count": [1553]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4734356105327606]], [[0.4734356105327606]], [[0.4734356105327606]]], "std": [[[0.1533913016319275]], [[0.1533913016319275]], [[0.1533913016319275]]], "count": [1553]}}}
+{"episode_index": 47, "stats": {"observation.state": {"min": [0.9647753238677979, -0.8277693390846252, 3.5952675148109847e-07, 1.0807769298553467, -0.7453545331954956, -0.770002007484436, 0.30206432938575745, 0.007578316610306501, -0.2959120571613312, -0.0028340499848127365, -0.32114824652671814, 0.00259398203343153, 0.003252865979447961, -0.00014767912216484547, 0.0034179859794676304, 0.0008442771504633129, 0.003948331810534, -0.0007303003221750259, 0.006774632725864649, 0.0008469377062283456, 0.003330630948767066, 0.00010671161726349965, 0.0029988926835358143, 0.000874873367138207, 0.0060474686324596405, 0.0032418270129710436, 0.00011554312368389219, 0.0028233840130269527, 0.0008531456696800888, 0.29192614555358887, -1.0450900793075562, 0.000502738228533417, 1.0912946462631226, -1.9307512044906616, -0.7695379853248596, -0.4391326904296875, 0.010976128280162811, -0.3315180838108063, -0.1932654082775116, -0.269794225692749, 0.006847318261861801, 0.007117055356502533, 9.248274000128731e-05, 0.0034810982178896666, 0.001334259519353509, 0.009254722855985165, 0.00017245527124032378, 0.0033942305017262697, 0.0049100215546786785, 0.005974381696432829, -4.6364872105186805e-05, 0.0035062720999121666, 0.0031886540818959475, 0.005727434530854225, 0.010505334474146366, 0.000950347282923758, 0.0067586773075163364, 0.0008469377062283456, 0.5623956918716431, -1.1070547103881836, 0.5078434944152832, -0.03480219095945358, -9.58738019107841e-05, -0.10277671366930008, -0.8518387079238892], "max": [1.13014554977417, -0.5098260641098022, 0.23467771708965302, 1.5699987411499023, 1.6777914879639866e-06, -0.37942272424697876, 0.6246158480644226, 1.2147390842437744, -6.305610440904275e-05, 0.7918906807899475, -0.005134548991918564, 0.9507405161857605, 1.355057716369629, 0.21584980189800262, 0.04660338908433914, 0.09118770062923431, 1.3994081020355225, 0.20456331968307495, 0.006842709146440029, 0.1521672159433365, 1.2540265321731567, 0.14081695675849915, 0.7106847763061523, 0.2998776137828827, 0.08004815131425858, 0.9238004684448242, 0.21690359711647034, 0.45907914638519287, 0.3923179507255554, 1.147172212600708, -0.3726244270801544, 0.908444881439209, 1.9200341701507568, -0.000845606904476881, 0.32995641231536865, 0.5193566083908081, 1.3135662078857422, 0.002511410741135478, 0.6993756294250488, 0.3146776556968689, 0.6376037001609802, 1.4661874771118164, 0.1627509742975235, 0.10723435133695602, 0.4944622218608856, 1.4667840003967285, 0.21257284283638, 1.653362512588501, 1.1139718294143677, 1.46676766872406, 0.2574898898601532, 1.6536741256713867, 0.9103729128837585, 0.13338039815425873, 1.4664973020553589, 0.2055700570344925, 1.6534209251403809, 1.308120608329773, 0.563066840171814, -1.1066712141036987, 0.5441796779632568, 0.0, 0.012559467926621437, 0.16471119225025177, -0.5618204474449158], "mean": [1.0346124172210693, -0.5815311074256897, 0.09631657600402832, 1.181900143623352, -0.6086649298667908, -0.5699537992477417, 0.5597321391105652, 1.1602941751480103, -0.24335168302059174, 0.678013026714325, -0.31117019057273865, 0.6792269945144653, 1.300877571105957, 0.18734151124954224, 0.010210287757217884, 0.0846211388707161, 1.3326314687728882, 0.1725948601961136, 0.006801390089094639, 0.10269423574209213, 1.162660002708435, 0.09272651374340057, 0.06251630187034607, 0.26431897282600403, 0.07305949181318283, 0.8650718927383423, 0.15317465364933014, 0.3548784554004669, 0.30285272002220154, 0.8706605434417725, -0.6735921502113342, 0.48619118332862854, 1.4353866577148438, -1.3596837520599365, -0.12076539546251297, -0.1864403486251831, 1.238499402999878, -0.2515357434749603, 0.23282615840435028, -0.10928459465503693, 0.5459437370300293, 1.253633975982666, 0.08311370760202408, 0.09792283922433853, 0.44276633858680725, 1.4187936782836914, 0.15393565595149994, 1.217556118965149, 1.041267991065979, 1.3526792526245117, 0.1509203314781189, 1.5281413793563843, 0.8235830664634705, 0.10588324069976807, 1.4370603561401367, 0.13333791494369507, 1.4295170307159424, 1.1354026794433594, 0.5626832246780396, -1.1068426370620728, 0.516278862953186, -0.024260498583316803, 0.007821817882359028, 0.010278225876390934, -0.6991011500358582], "std": [0.03107265569269657, 0.07498467713594437, 0.03264240920543671, 0.11464174091815948, 0.21045853197574615, 0.053454674780368805, 0.042503472417593, 0.13536366820335388, 0.030073994770646095, 0.20743098855018616, 0.035961952060461044, 0.09242425113916397, 0.16111433506011963, 0.03367277979850769, 0.008468498475849628, 0.01040987391024828, 0.18454426527023315, 0.025396713986992836, 8.869570592651144e-06, 0.03622861206531525, 0.20552118122577667, 0.0172957144677639, 0.1531309187412262, 0.07201817631721497, 0.010660740546882153, 0.14134785532951355, 0.025933414697647095, 0.15873177349567413, 0.1367395520210266, 0.2649039924144745, 0.17601540684700012, 0.20059609413146973, 0.2055244743824005, 0.46553903818130493, 0.22207774221897125, 0.1684148758649826, 0.14474911987781525, 0.054164499044418335, 0.252725750207901, 0.1485000103712082, 0.07328788191080093, 0.2021544873714447, 0.03364056348800659, 0.012674241326749325, 0.05797967687249184, 0.16435129940509796, 0.022913198918104172, 0.45973366498947144, 0.1546648144721985, 0.25683480501174927, 0.028297219425439835, 0.3298790156841278, 0.1273535192012787, 0.022273575887084007, 0.14321325719356537, 0.025460664182901382, 0.5311747789382935, 0.4185434877872467, 4.846498268307187e-05, 3.821753853117116e-05, 0.006028745323419571, 0.005288770422339439, 0.002548794262111187, 0.0757284015417099, 0.10223682224750519], "count": [1851]}, "observation.state.joint_torque": {"min": [-41.801998138427734, -8.470499992370605, -22.555999755859375, -13.442000389099121, -0.5343999862670898, -0.7512000203132629, 0.6736000180244446, -1.1627305746078491, -0.6762431263923645, -1.079897165298462, -0.7319441437721252, -0.4233653247356415, -0.3511638939380646, -1.0410187244415283, -0.2639807164669037, -0.04923170804977417, -0.36555585265159607, -0.3530828356742859, -0.0033205123618245125, -0.020691584795713425, -0.6581924557685852, -1.1916546821594238, -0.3254101872444153, -0.02925362065434456, -0.07872439920902252, -0.3828262388706207, -0.4634212553501129, -0.11787818372249603, -0.02925362065434456, 7.2210001945495605, -16.36050033569336, -1.0329999923706055, -14.293000221252441, -1.9911999702453613, -1.9368000030517578, -3.3359999656677246, -1.5944565534591675, -2.3280081748962402, -1.5682742595672607, -1.496198296546936, -0.5528652667999268, -0.5459351539611816, -1.2597765922546387, -0.06973075866699219, -0.06278826296329498, -0.3003122806549072, -0.5171512365341187, -0.5744485855102539, -0.028540121391415596, -0.7512604594230652, -0.5344216227531433, -0.3254101872444153, -0.022118592634797096, -0.04881792515516281, -0.5804758667945862, -0.8270581960678101, -0.20919226109981537, -0.03068062849342823, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-16.479000091552734, 17.60849952697754, -7.985000133514404, 5.642000198364258, 2.143199920654297, 2.0536000728607178, 5.828000068664551, 2.5063021183013916, 4.14278507232666, 2.269151449203491, 1.431578516960144, 0.4847947955131531, 1.8143469095230103, 0.37515053153038025, 0.9380446672439575, 0.21333740651607513, 0.9431533813476562, 0.922045111656189, 0.0016602561809122562, 0.11416048556566238, 1.0803567171096802, 0.21587945520877838, 0.0796922892332077, 0.03068062849342823, 0.1913134753704071, 0.39433979988098145, 0.2724878489971161, 0.08301279693841934, 0.019264578819274902, 55.912498474121094, 19.036500930786133, 31.385000228881836, 1.121000051498413, 0.42559999227523804, 3.3264000415802, 0.9319999814033508, 2.2605113983154297, 2.943122148513794, 1.5670315027236938, 1.2066515684127808, 0.4432883560657501, 1.7769278287887573, 0.406812846660614, 0.9264229536056519, 0.18051625788211823, 0.41544800996780396, 0.4096912443637848, 0.5893909335136414, 0.04209667816758156, 0.8078688979148865, 0.8539232015609741, 0.31378841400146484, 0.03710215538740158, 0.4666289985179901, 0.4499886929988861, 0.37515050172805786, 0.4316665828227997, 0.08062583953142166, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-31.17829132080078, 0.975024938583374, -14.339932441711426, -5.050157070159912, 0.23313598334789276, 0.784183144569397, 1.790076732635498, 1.0904260873794556, 1.3440967798233032, 1.1943790912628174, 0.924736499786377, 0.16809110343456268, 1.0071982145309448, -0.5277184247970581, 0.010514047928154469, 0.13671520352363586, 0.10185556858778, 0.11303332448005676, 3.587803348636953e-06, 0.02289685048162937, 0.05807015299797058, -0.14764146506786346, -0.005976384971290827, 0.004613676108419895, 0.004374487791210413, 0.011319751851260662, -0.003964332863688469, -0.005079435650259256, -0.00422821706160903, 27.44996452331543, 4.275540828704834, 13.945610046386719, -7.1931328773498535, -0.6029971837997437, 1.2589399814605713, -0.9203645586967468, 0.13341976702213287, 0.3618910312652588, 0.16397131979465485, 0.014457764104008675, 0.03637585788965225, 0.23475004732608795, -0.1417435258626938, 0.12253954261541367, 0.029539288952946663, 0.015435947105288506, 0.0030100445728749037, 0.004075723234564066, 0.0009301330428570509, 0.00832214206457138, 0.06038304790854454, 0.0017974893562495708, -0.0002937250246759504, 0.05869027227163315, -0.009518442675471306, -0.06283383816480637, 0.002036080462858081, 0.0001773162221070379, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.1233208179473877, 1.9008561372756958, 1.159358263015747, 1.498071551322937, 0.27647337317466736, 0.46590226888656616, 0.653058648109436, 0.9008267521858215, 0.9082306623458862, 0.6366692781448364, 0.5034369230270386, 0.10916339606046677, 0.47406330704689026, 0.35496944189071655, 0.10795310884714127, 0.05842725187540054, 0.18690501153469086, 0.1722249537706375, 0.00023151360801421106, 0.01843499019742012, 0.1966443955898285, 0.2294059693813324, 0.020704545080661774, 0.007162207737565041, 0.01933509111404419, 0.07578707486391068, 0.06794022768735886, 0.017450818791985512, 0.00786557700484991, 5.129749298095703, 3.4610326290130615, 2.150939702987671, 2.62160325050354, 0.3535672128200531, 0.7499822378158569, 0.8220511674880981, 0.48267045617103577, 0.5809788703918457, 0.3356267809867859, 0.3054210841655731, 0.08026993274688721, 0.4216713607311249, 0.27348801493644714, 0.18108347058296204, 0.041154664009809494, 0.06565787643194199, 0.07493674755096436, 0.043987225741147995, 0.00503530353307724, 0.13630394637584686, 0.1496463119983673, 0.018478404730558395, 0.0074142939411103725, 0.08058015257120132, 0.08698249608278275, 0.15944764018058777, 0.02322079800069332, 0.004456726834177971, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1851]}, "observation.state.tcp": {"min": [0.36167797446250916, 0.1521948128938675, 1.0397865772247314, -1.2088569402694702, 0.9865103363990784, -1.5400006771087646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2757503092288971, -0.3069410026073456, 0.982489287853241, -0.4514491558074951, 1.107016921043396, -0.025401955470442772, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.44779834151268005, 0.266872376203537, 1.1462368965148926, -0.32241347432136536, 1.3934262990951538, -1.1767618656158447, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.47982487082481384, -0.04544343799352646, 1.252200722694397, 1.2084286212921143, 2.2207791805267334, 1.6901930570602417, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4133167564868927, 0.1817149519920349, 1.0703798532485962, -0.5369227528572083, 1.1628069877624512, -1.2673474550247192, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.38960587978363037, -0.18415403366088867, 1.1242388486862183, 0.2597353756427765, 1.6185120344161987, 0.7531269192695618, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.01512120384722948, 0.019348934292793274, 0.018727172166109085, 0.23671786487102509, 0.05872662737965584, 0.08271905034780502, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05960429832339287, 0.07811453938484192, 0.08133286237716675, 0.4847089350223541, 0.27222001552581787, 0.44221100211143494, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1851]}, "action": {"min": [0.9646106362342834, -0.8279452323913574, -5.073584665397594e-18, 1.0807251930236816, -0.7453343272209167, -0.7699999809265137, 0.3020761013031006, 0.0, -0.2998824715614319, 0.0, -0.3490658402442932, 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, 0.29110607504844666, -1.0452320575714111, 0.000651620386634022, 1.0912522077560425, -1.9307360649108887, -0.7693306803703308, -0.43914705514907837, 0.0, -0.3490658402442932, -0.19871015846729279, -0.2713121771812439, 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, 0.5626834034919739, -1.1069231033325195, 0.5072939991950989, -0.03515706956386566, -0.0007587304571643472, -0.1038321927189827, -0.8521500825881958], "max": [1.1302111148834229, -0.5098071098327637, 0.2348608374595642, 1.5700000524520874, 2.346528384102412e-18, -0.3792001008987427, 0.6248037815093994, 1.2198982238769531, 0.0, 0.80022132396698, 0.0, 0.9560059309005737, 1.3671354055404663, 0.2153434157371521, 0.05224941298365593, 0.09261403232812881, 1.4079948663711548, 0.20201677083969116, 0.0, 0.15513335168361664, 1.2523746490478516, 0.1415204405784607, 0.7167548537254333, 0.3017246127128601, 0.09325645118951797, 0.9325645565986633, 0.2152472734451294, 0.46387577056884766, 0.3977228105068207, 1.147147536277771, -0.37257128953933716, 0.9085140228271484, 1.9201610088348389, -0.00115947425365448, 0.33025768399238586, 0.5190691947937012, 1.311553955078125, 0.0, 0.7045168876647949, 0.3490658402442932, 0.6423544883728027, 1.537150263786316, 0.16606420278549194, 0.11276918649673462, 0.4958593547344208, 1.5707963705062866, 0.21256297826766968, 1.7407219409942627, 1.1165461540222168, 1.5707963705062866, 0.2553226351737976, 1.7453292608261108, 0.9127664566040039, 0.1431203931570053, 1.5707963705062866, 0.20941239595413208, 1.7453292608261108, 1.3962633609771729, 0.5627791881561279, -1.106863021850586, 0.5442397594451904, -1.1577913651030954e-18, 0.013095800764858723, 0.16480129957199097, -0.5588175654411316], "mean": [1.0346953868865967, -0.581596314907074, 0.09629970788955688, 1.1819614171981812, -0.6086841821670532, -0.5699591040611267, 0.5598520040512085, 1.1637146472930908, -0.237678661942482, 0.6863245964050293, -0.34302693605422974, 0.6842626929283142, 1.3091771602630615, 0.18630582094192505, 0.009411324746906757, 0.08816038072109222, 1.3359731435775757, 0.1767519861459732, 0.0, 0.10569506883621216, 1.1652069091796875, 0.09430672973394394, 0.06485823541879654, 0.26600182056427, 0.08687499165534973, 0.8687513470649719, 0.15473900735378265, 0.35615628957748413, 0.3049341142177582, 0.8714982867240906, -0.6739118695259094, 0.48565563559532166, 1.4354385137557983, -1.359336256980896, -0.12078941613435745, -0.18652962148189545, 1.241241216659546, -0.2543659210205078, 0.23394176363945007, -0.11043519526720047, 0.5483346581459045, 1.2635575532913208, 0.08223187178373337, 0.10058464854955673, 0.4453310966491699, 1.5103354454040527, 0.15589989721775055, 1.2213152647018433, 1.0434908866882324, 1.4208908081054688, 0.15235958993434906, 1.6087050437927246, 0.8256333470344543, 0.1230272576212883, 1.5320987701416016, 0.1344446837902069, 1.503663182258606, 1.208917260169983, 0.5627895593643188, -1.106842279434204, 0.516333818435669, -0.024301603436470032, 0.00785939209163189, 0.010292645543813705, -0.6991533041000366], "std": [0.031117521226406097, 0.07509348541498184, 0.0326351635158062, 0.11480776965618134, 0.21045421063899994, 0.05353756621479988, 0.04195651039481163, 0.14796338975429535, 0.03325318172574043, 0.20943711698055267, 0.04549798741936684, 0.10662037879228592, 0.17556659877300262, 0.03496305271983147, 0.010809337720274925, 0.011946669779717922, 0.1937941014766693, 0.028622496873140335, 0.0, 0.03763234615325928, 0.21359707415103912, 0.01902424916625023, 0.1599176526069641, 0.07346972823143005, 0.014767859131097794, 0.14767850935459137, 0.028696605935692787, 0.1590205281972885, 0.13705803453922272, 0.2655116617679596, 0.17624899744987488, 0.20109152793884277, 0.205628901720047, 0.46564236283302307, 0.22211477160453796, 0.16845566034317017, 0.15978959202766418, 0.06459006667137146, 0.2539038360118866, 0.15019947290420532, 0.08186352252960205, 0.21933303773403168, 0.034238915890455246, 0.014127589762210846, 0.0643613263964653, 0.2034275233745575, 0.02582899108529091, 0.46077200770378113, 0.1613551825284958, 0.29333633184432983, 0.030201753601431847, 0.3580491840839386, 0.1332949995994568, 0.025171086192131042, 0.18009494245052338, 0.027426017448306084, 0.5615686774253845, 0.44736409187316895, 1.6863661585375667e-05, 2.267142008349765e-05, 0.006152646150439978, 0.005356964189559221, 0.0026030612643808126, 0.07578384876251221, 0.10228750854730606], "count": [1851]}, "observation.state.tcp_pose": {"min": [0.36167797446250916, 0.1521948128938675, 1.0397865772247314, -1.2088569402694702, 0.9865103363990784, -1.5400006771087646, 0.2757503092288971, -0.3069410026073456, 0.982489287853241, -0.4514491558074951, 1.107016921043396, -0.025401955470442772], "max": [0.44779834151268005, 0.266872376203537, 1.1462368965148926, -0.32241347432136536, 1.3934262990951538, -1.1767618656158447, 0.47982487082481384, -0.04544343799352646, 1.252200722694397, 1.2084286212921143, 2.2207791805267334, 1.6901930570602417], "mean": [0.4133167564868927, 0.1817149519920349, 1.0703798532485962, -0.5369227528572083, 1.1628069877624512, -1.2673474550247192, 0.38960587978363037, -0.18415403366088867, 1.1242388486862183, 0.2597353756427765, 1.6185120344161987, 0.7531269192695618], "std": [0.01512120384722948, 0.019348934292793274, 0.018727172166109085, 0.23671786487102509, 0.05872662737965584, 0.08271905034780502, 0.05960429832339287, 0.07811453938484192, 0.08133286237716675, 0.4847089350223541, 0.27222001552581787, 0.44221100211143494], "count": [1851]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.15206241607666016, 1.0395587682724, -1.208855390548706, 0.9760735630989075, -1.5405383110046387, 0.2764015793800354, -0.3069758117198944, 0.9822593331336975, -0.45258161425590515, 1.1045807600021362, -0.02565663680434227], "max": [0.4483051896095276, 0.2676839530467987, 1.1458196640014648, -0.3228268325328827, 1.3929787874221802, -1.1767590045928955, 0.4797249734401703, -0.04586905986070633, 1.253292441368103, 1.208104133605957, 2.2215805053710938, 1.6935573816299438], "mean": [0.41340258717536926, 0.1817539930343628, 1.0703476667404175, -0.5369028449058533, 1.1627591848373413, -1.2673859596252441, 0.38973256945610046, -0.18421684205532074, 1.1244449615478516, 0.25945815443992615, 1.6183750629425049, 0.7527264356613159], "std": [0.01519999373704195, 0.01941574551165104, 0.018780721351504326, 0.23640617728233337, 0.058718241751194, 0.08275528252124786, 0.05972285196185112, 0.07829063385725021, 0.08148925751447678, 0.4849816560745239, 0.2721143960952759, 0.44259780645370483], "count": [1851]}, "subtask_index": {"min": [0], "max": [21], "mean": [10.10913019989195], "std": [6.67214614224702], "count": [1851]}, "observation.tactile": {"min": [-11.046745300292969, -0.01336669921875, 0.0, -0.33751964569091797, -0.050635337829589844, -0.18018722534179688, -0.19015121459960938, -0.00079345703125, -0.003173828125, -0.35149478912353516, -0.005669116973876953, -0.006110429763793945, -0.14612960815429688, -0.014862060546875, -0.00360107421875, -0.31589603424072266, -0.02174663543701172, -0.0023734569549560547, -0.2652091979980469, -0.0128173828125, -0.01507568359375, -0.014719963073730469, -0.0064983367919921875, -0.00448918342590332, -0.031421661376953125, -0.0164794921875, -0.02716064453125, -0.005822181701660156, -0.004986763000488281, -0.0003483295440673828, -0.506591796875, -0.020965576171875, 0.0, -0.44046688079833984, -0.06977415084838867, -0.01860356330871582, -5.9303741455078125, -0.00689697265625, 0.0, -0.12279987335205078, -0.018607139587402344, -0.1199190616607666, -0.02381134033203125, -0.007537841796875, -0.00360107421875, -0.0002384185791015625, -0.0015282630920410156, -0.0006372928619384766, -0.012866973876953125, -0.005950927734375, -0.0179443359375, -0.0004930496215820312, -0.0014524459838867188, -0.0006437301635742188, -0.024965286254882812, -0.00408935546875, -0.00537109375, -0.00036525726318359375, -0.000759124755859375, -0.00045228004455566406], "max": [0.02816009521484375, 15.138427734375, 12.1595458984375, 0.000560760498046875, 0.00183868408203125, 0.00043129920959472656, 6.778964996337891, 9.1025390625, 23.01513671875, 0.0020895004272460938, 0.03781461715698242, 0.1120917797088623, 7.420764923095703, 11.80364990234375, 20.22943115234375, 0.0016164779663085938, 0.03080463409423828, 0.12845349311828613, 2.101490020751953, 0.981109619140625, 1.52508544921875, 0.0019807815551757812, 0.010065078735351562, 0.013108015060424805, 0.9431266784667969, 0.20416259765625, 0.15924072265625, 0.0019712448120117188, 0.0022764205932617188, 0.009073972702026367, 4.555419921875, 22.938140869140625, 21.7044677734375, 0.0019006729125976562, 0.015781879425048828, 0.09315180778503418, 0.5461883544921875, 8.16546630859375, 7.02001953125, 0.004771232604980469, 0.011559486389160156, 0.015212774276733398, 0.04344940185546875, 0.0095062255859375, 0.01605224609375, 0.0016918182373046875, 0.0003285408020019531, 0.0, 0.3439178466796875, 0.050445556640625, 0.003173828125, 0.0012054443359375, 0.000614166259765625, 0.0036830902099609375, 0.010618209838867188, 0.005126953125, 0.00677490234375, 0.0007724761962890625, 0.00031065940856933594, 8.559226989746094e-05], "mean": [-8.496869087219238, 11.270882606506348, 9.398271560668945, -0.24396760761737823, -0.0383705236017704, -0.1481405347585678, 2.0882606506347656, 2.825486898422241, 10.97132682800293, -0.15701672434806824, 0.01020180992782116, 0.03417825698852539, 3.251060724258423, 2.6806633472442627, 5.959189414978027, -0.1022196039557457, -0.014204056933522224, 0.0600670725107193, -0.004917589016258717, 0.008930768817663193, 0.01069168746471405, 0.00037157131009735167, -0.0004943160456605256, -0.00040139886550605297, 0.32024845480918884, 0.015330631285905838, 0.03105965629220009, -0.0007164770504459739, -0.001327704987488687, 0.0026239887811243534, 0.940535843372345, 3.1384565830230713, 3.5540804862976074, -0.0780249834060669, -0.007016709074378014, 0.020539486780762672, -1.1803500652313232, 1.3064719438552856, 1.61151921749115, -0.029416434466838837, -0.0014140455750748515, -0.022918542847037315, 0.016856567934155464, 0.0007531296578235924, 0.002153838751837611, 0.0008855033665895462, -0.0008976375684142113, -0.00036816077772527933, 0.010929162614047527, 0.0011506907176226377, -0.007043905556201935, 0.0005226593930274248, -0.0006321619148366153, -0.00024098412541206926, 9.935627167578787e-05, 0.00016271095955744386, 0.0010339044965803623, 0.00011056027142331004, -7.476605969714001e-05, -0.00010226160520687699], "std": [3.4358842372894287, 4.623630046844482, 3.8508763313293457, 0.10260967165231705, 0.016601845622062683, 0.0579100027680397, 0.9670885801315308, 1.4395537376403809, 4.627070903778076, 0.06705515086650848, 0.005654776468873024, 0.015870381146669388, 1.4110424518585205, 1.6296286582946777, 3.011012315750122, 0.04975849390029907, 0.008076892234385014, 0.025956880301237106, 0.22091621160507202, 0.08120644837617874, 0.12701460719108582, 0.0009340807446278632, 0.0009081758907996118, 0.0011732883285731077, 0.30469417572021484, 0.030639702454209328, 0.03655191883444786, 0.0015910995425656438, 0.0015298258513212204, 0.002706153318285942, 1.0202497243881226, 4.560313701629639, 4.5782551765441895, 0.09793688356876373, 0.011892862617969513, 0.02202296443283558, 1.4730808734893799, 1.5891261100769043, 1.8406065702438354, 0.03400232270359993, 0.005538464058190584, 0.028450800105929375, 0.00900297798216343, 0.001490875263698399, 0.0018007640028372407, 0.0003098245069850236, 0.00024219650367740542, 7.050820568110794e-05, 0.00981992855668068, 0.0027849271427839994, 0.003202978754416108, 0.0002799145004246384, 0.0003392449871171266, 0.00016730294737499207, 0.0035080169327557087, 0.0010086530819535255, 0.0018527668435126543, 0.00015985171194188297, 0.00013968948042020202, 6.602872599614784e-05], "count": [1851]}, "timestamp": {"min": [0.0], "max": [61.666666666666664], "mean": [30.833333333333336], "std": [17.81125320522789], "count": [1851]}, "frame_index": {"min": [0], "max": [1850], "mean": [925.0], "std": [534.3375961568366], "count": [1851]}, "episode_index": {"min": [47], "max": [47], "mean": [47.0], "std": [0.0], "count": [1851]}, "index": {"min": [73374], "max": [75224], "mean": [74299.0], "std": [534.3375961568366], "count": [1851]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1851]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34214603900909424]], [[0.34145835041999817]], [[0.34122076630592346]]], "std": [[[0.21752072870731354]], [[0.21752147376537323]], [[0.2174917310476303]]], "count": [1851]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3052200973033905]], [[0.3068363070487976]], [[0.3047240376472473]]], "std": [[[0.1718752682209015]], [[0.1740148365497589]], [[0.1732536107301712]]], "count": [1851]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3094421923160553]], [[0.30844470858573914]], [[0.3063550591468811]]], "std": [[[0.17339454591274261]], [[0.17397302389144897]], [[0.17251873016357422]]], "count": [1851]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33788132667541504]], [[0.3372137248516083]], [[0.3371042013168335]]], "std": [[[0.2170793116092682]], [[0.21714816987514496]], [[0.21715262532234192]]], "count": [1851]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7647058963775635]], [[0.7647058963775635]], [[0.7647058963775635]]], "mean": [[[0.01578761264681816]], [[0.01578761264681816]], [[0.01578761264681816]]], "std": [[[0.08853235095739365]], [[0.08853235095739365]], [[0.08853235095739365]]], "count": [1851]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.47249850630760193]], [[0.47249850630760193]], [[0.47249850630760193]]], "std": [[[0.1538362354040146]], [[0.1538362354040146]], [[0.1538362354040146]]], "count": [1851]}}}
+{"episode_index": 48, "stats": {"observation.state": {"min": [0.9523064494132996, -0.7862475514411926, -4.673847342928639e-06, 1.0962659120559692, -0.5967114567756653, -0.7700079083442688, 0.4213736057281494, 0.007479125168174505, -0.2698768675327301, -0.155168354511261, -0.3174448311328888, 0.0025915000587701797, 0.003227108158171177, -0.00015037765842862427, 0.003383238799870014, 0.0008300876361317933, 0.003986846189945936, -0.0006621029460802674, 0.0034523785579949617, 0.0008646746282465756, 0.003307571168988943, 8.635058475192636e-05, 0.0031197986099869013, 0.000881524698343128, 0.006002513691782951, 0.003240600461140275, 7.236785313580185e-05, 0.0066781919449567795, 0.0007644611177965999, 0.3130592405796051, -1.1009095907211304, 0.000618266174569726, 1.2642614841461182, -1.9530134201049805, -0.7694799900054932, -0.39692890644073486, 0.027127208188176155, -0.3201954662799835, -0.13666264712810516, -0.31602829694747925, 0.006879228632897139, 0.02232702635228634, 7.261419523274526e-05, 0.0034842893946915865, 0.0014788154512643814, 0.04021313041448593, 0.0015337058575823903, 0.0033942305017262697, 0.005388031713664532, 0.025809261947870255, -0.0016867798985913396, 0.0035101724788546562, 0.005449667107313871, 0.012456715106964111, 0.04739053174853325, 0.0009918063879013062, 0.0032261675223708153, 0.000839399523101747, 0.5623956918716431, -1.1069588661193848, 0.506884753704071, -0.03039199486374855, -0.008916263468563557, -0.09577792882919312, -0.8444564342498779], "max": [1.2321244478225708, -0.5141767263412476, 0.21523810923099518, 1.5700013637542725, 7.310377441172022e-06, -0.35092243552207947, 0.6267562508583069, 1.2498434782028198, 0.0003839386045001447, 0.6622359752655029, -0.0023842155933380127, 1.085169792175293, 1.3003631830215454, 0.2084520161151886, 0.022423621267080307, 0.08744432777166367, 1.3158040046691895, 0.221205934882164, 0.04846874624490738, 0.195760115981102, 1.154323935508728, 0.13220617175102234, 0.0031708558090031147, 0.2746073603630066, 0.06169595569372177, 0.7699764966964722, 0.19854751229286194, 0.006746977102011442, 0.008507068268954754, 1.2354493141174316, -0.38071033358573914, 0.7389845848083496, 1.8118178844451904, -0.0009316536597907543, 0.12528777122497559, 0.5192803144454956, 1.3396350145339966, -0.0013852502452209592, 0.49359551072120667, 0.31316429376602173, 0.6106434464454651, 1.466439962387085, 0.1323673576116562, 0.1080370843410492, 0.49402275681495667, 1.4666491746902466, 0.220287024974823, 1.5683202743530273, 1.1092413663864136, 1.4666379690170288, 0.2703632414340973, 1.6537822484970093, 0.8733125329017639, 0.14090602099895477, 1.4688726663589478, 0.2055852860212326, 1.6535340547561646, 1.30808424949646, 0.5631626844406128, -1.106479525566101, 0.5441796779632568, 0.0, 0.004122573416680098, 0.11226821690797806, -0.5491651296615601], "mean": [1.0709656476974487, -0.5706896185874939, 0.0662279725074768, 1.1818008422851562, -0.49517741799354553, -0.5180782079696655, 0.5439605116844177, 1.1862099170684814, -0.20054404437541962, 0.5196402072906494, -0.3093280494213104, 0.8032615780830383, 1.2514357566833496, 0.18856275081634521, 0.004743161611258984, 0.08164823055267334, 1.243980884552002, 0.1709776073694229, 0.009472389705479145, 0.15514448285102844, 1.0933054685592651, 0.07680971920490265, 0.003147281240671873, 0.2557079493999481, 0.060367897152900696, 0.7036086320877075, 0.09551168978214264, 0.006720774341374636, 0.001608351245522499, 0.8692924976348877, -0.7498262524604797, 0.4099108874797821, 1.48714017868042, -1.2977842092514038, -0.23930849134922028, -0.1700362116098404, 1.2594586610794067, -0.26061007380485535, 0.23024718463420868, -0.08937141299247742, 0.5548067688941956, 1.2594515085220337, 0.07644996792078018, 0.09796377271413803, 0.42068591713905334, 1.4211119413375854, 0.1636868268251419, 1.2387045621871948, 1.0421940088272095, 1.328972578048706, 0.15543405711650848, 1.5245071649551392, 0.8094517588615417, 0.11308931559324265, 1.4289149045944214, 0.128484845161438, 1.411684513092041, 1.1235418319702148, 0.562682569026947, -1.1067836284637451, 0.5166608691215515, -0.024898208677768707, -0.0005931930500082672, -0.005293677095323801, -0.7138043642044067], "std": [0.045497260987758636, 0.0697312280535698, 0.038639359176158905, 0.09805118292570114, 0.1540130078792572, 0.05007820948958397, 0.03241977468132973, 0.14162378013134003, 0.026012925431132317, 0.1766549050807953, 0.03552818298339844, 0.10452587902545929, 0.15301662683486938, 0.031419720500707626, 0.0037045932840555906, 0.009956520982086658, 0.17606541514396667, 0.025026902556419373, 0.00973161868751049, 0.05277221277356148, 0.14870576560497284, 0.017028378322720528, 7.246312634379137e-06, 0.03725529834628105, 0.0070464820601046085, 0.08960238099098206, 0.025104422122240067, 7.941912372189108e-06, 0.001600303454324603, 0.2092837542295456, 0.1758078783750534, 0.16267621517181396, 0.17225030064582825, 0.4205493628978729, 0.20756150782108307, 0.16491776704788208, 0.1431247889995575, 0.05307294428348541, 0.1814371794462204, 0.15331698954105377, 0.0686793401837349, 0.1947018951177597, 0.0250101238489151, 0.012731796130537987, 0.07328936457633972, 0.15625625848770142, 0.02545515075325966, 0.46119144558906555, 0.1584010124206543, 0.28215014934539795, 0.03207545354962349, 0.3331335484981537, 0.13345612585544586, 0.026051664724946022, 0.1468634456396103, 0.026091085746884346, 0.5515296459197998, 0.4362333416938782, 5.3766754717798904e-05, 4.1673945816000924e-05, 0.004551941528916359, 0.005463264882564545, 0.0023377954494208097, 0.04741895571351051, 0.0924348458647728], "count": [1730]}, "observation.state.joint_torque": {"min": [-40.6875, -19.9064998626709, -23.485000610351562, -17.88800048828125, -0.26159998774528503, -2.5432000160217285, 0.9896000027656555, -1.3945127725601196, -0.48011985421180725, -0.9966370463371277, -0.7120611071586609, -0.4250255823135376, -0.3454071283340454, -0.5008403658866882, -0.24073712527751923, -0.04923170804977417, -0.5305837392807007, -0.3271773159503937, -0.09463459998369217, -0.019978083670139313, -0.6428410410881042, -0.8923017382621765, -0.0016602561809122562, -0.028540121391415596, -0.048378121107816696, -0.38666409254074097, -0.4662996232509613, -0.0033205123618245125, -0.02925362065434456, 9.897000312805176, -7.298999786376953, 4.6479997634887695, -13.15999984741211, -1.7151999473571777, -0.8384000062942505, -3.6663999557495117, -1.1741923093795776, -1.057027816772461, -1.4278502464294434, -0.7990493774414062, -0.1145576685667038, -0.570881187915802, -1.299114465713501, -0.1062563955783844, -0.025686107575893402, -0.4874078333377838, -0.41065070033073425, -0.13780125975608826, -0.027826614677906036, -0.5094754695892334, -0.5929489135742188, -0.2025512456893921, -0.039956167340278625, -0.048378121107816696, -0.6601113677024841, -0.871193528175354, -0.5063781142234802, -0.09275539219379425, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-9.103500366210938, 20.990999221801758, -2.194000005722046, 7.697000026702881, 1.7791999578475952, 2.8447999954223633, 4.74399995803833, 0.9080250859260559, 1.402153730392456, 1.6304086446762085, 1.2439323663711548, 0.25899994373321533, 1.2549792528152466, 0.7167198061943054, 0.08135254681110382, 0.12486302107572556, 0.6783412098884583, 0.9527480006217957, 0.06474998593330383, 0.04209667816758156, 0.6984899044036865, 0.21491998434066772, -0.0, 0.020691584795713425, 0.07784479111433029, 0.38282620906829834, 0.37131267786026, 0.0033205123618245125, 0.013556556776165962, 47.269500732421875, 15.52649974822998, 28.8700008392334, 0.36899998784065247, 0.19439999759197235, 3.388000011444092, 0.8640000224113464, 1.898829460144043, 2.8208634853363037, 1.3234643936157227, 1.0451018810272217, 0.388499915599823, 1.5504941940307617, 0.5651243925094604, 0.6840255260467529, 0.1348520666360855, 0.41352909803390503, 0.4758942425251007, 0.2473781555891037, 0.022832093760371208, 0.5958272814750671, 1.155194878578186, 0.2291153371334076, 0.03068062849342823, 0.49125784635543823, 0.4144885540008545, 0.2715283930301666, 0.1776474118232727, 0.027113113552331924, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-31.420991897583008, 0.735225260257721, -14.450350761413574, -4.498236179351807, 0.27173444628715515, 0.6106600761413574, 1.8729172945022583, -0.15228299796581268, 0.17001311480998993, 0.348641574382782, 0.2340034395456314, 0.03466961532831192, 0.4391627311706543, 0.06866155564785004, -0.007239872589707375, 0.06650877743959427, 0.08473780006170273, 0.1466151475906372, -0.0015901981387287378, 0.00742538645863533, 0.003653703024610877, -0.11488844454288483, -2.8790568649128545e-06, -0.0007473230944015086, -0.0003055724373552948, 0.023155270144343376, 0.020429888740181923, 9.596856216376182e-07, -0.008639553561806679, 26.446229934692383, 4.830698490142822, 14.246607780456543, -6.8640618324279785, -0.6643725633621216, 1.2961738109588623, -1.0369834899902344, 0.06466639786958694, 0.32111185789108276, 0.12037501484155655, 0.021971147507429123, 0.025471989065408707, 0.1813119500875473, -0.09210854768753052, 0.07263000309467316, 0.01918944902718067, 0.013245007954537868, -0.006558738648891449, 0.0015575508587062359, 0.002615621779114008, 0.0005878814845345914, 0.08905494213104248, 0.002279255073517561, 0.0009518846054561436, 0.12570711970329285, -0.0032643747981637716, -0.09890589118003845, -0.0009548869566060603, 8.454843191429973e-05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.8602784872055054, 1.931666374206543, 0.9029991030693054, 1.1986123323440552, 0.27433302998542786, 0.43745502829551697, 0.340146005153656, 0.2879810035228729, 0.2988477349281311, 0.4053557515144348, 0.26011496782302856, 0.054748814553022385, 0.2674214839935303, 0.22040104866027832, 0.02828935906291008, 0.03297489508986473, 0.17323161661624908, 0.1781315803527832, 0.007279765792191029, 0.00865656603127718, 0.15265943109989166, 0.1698082685470581, 6.90770466462709e-05, 0.005744100548326969, 0.005460491869598627, 0.08199009299278259, 0.07082825154066086, 0.00019957793119829148, 0.00939614325761795, 4.589163780212402, 3.164304494857788, 1.7907172441482544, 2.3285841941833496, 0.2709153890609741, 0.627328634262085, 0.7177731394767761, 0.4081820249557495, 0.6158604025840759, 0.28543075919151306, 0.26901912689208984, 0.06218637898564339, 0.37318742275238037, 0.2657786011695862, 0.13709552586078644, 0.03041916899383068, 0.06702182441949844, 0.07400791347026825, 0.040213730186223984, 0.005849648732692003, 0.12308935821056366, 0.21465343236923218, 0.016808288171887398, 0.006502905860543251, 0.14795149862766266, 0.09201224893331528, 0.18240636587142944, 0.026659460738301277, 0.0044975485652685165, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1730]}, "observation.state.tcp": {"min": [0.36155784130096436, 0.14679990708827972, 1.0366630554199219, -1.2089040279388428, 0.9895980358123779, -1.542559266090393, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.27043554186820984, -0.3112927973270416, 0.9890010952949524, -0.43292734026908875, 1.0215543508529663, 0.028772134333848953, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.439567506313324, 0.24874185025691986, 1.1585060358047485, -0.45702749490737915, 1.4058513641357422, -1.2289302349090576, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.44800660014152527, -0.07444752752780914, 1.271085500717163, 1.2084375619888306, 2.0503921508789062, 1.4535821676254272, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4211404323577881, 0.1718006581068039, 1.0766065120697021, -0.6240447759628296, 1.1985440254211426, -1.3334393501281738, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3746785521507263, -0.20046862959861755, 1.1072016954421997, 0.3097023665904999, 1.6156586408615112, 0.763089120388031, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.014699439518153667, 0.016781125217676163, 0.018829604610800743, 0.18631280958652496, 0.0603509359061718, 0.07060209661722183, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05716008320450783, 0.06407777965068817, 0.07572757452726364, 0.45046642422676086, 0.27900227904319763, 0.37343406677246094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1730]}, "action": {"min": [0.9522427320480347, -0.7863497138023376, -1.665655652587431e-18, 1.0960748195648193, -0.5967276692390442, -0.7699999809265137, 0.4212682545185089, 0.0, -0.26996999979019165, -0.16126832365989685, -0.3490658402442932, 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, 0.3129560351371765, -1.102810025215149, 0.00151103048119694, 1.2642207145690918, -1.9530463218688965, -0.7683049440383911, -0.39713066816329956, 0.0, -0.3490658402442932, -0.14377446472644806, -0.32231706380844116, 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, 0.5626833438873291, -1.1069231033325195, 0.5058958530426025, -0.031045516952872276, -0.009829260408878326, -0.09681927412748337, -0.8453794121742249], "max": [1.232399821281433, -0.5141790509223938, 0.21529749035835266, 1.5700000524520874, 2.773158365555212e-18, -0.35075390338897705, 0.6267883777618408, 1.252207636833191, 0.0, 0.6692385077476501, 0.0, 1.094897985458374, 1.3075565099716187, 0.21150821447372437, 0.029498914256691933, 0.08973784744739532, 1.3252241611480713, 0.22023290395736694, 0.05492783710360527, 0.19742310047149658, 1.1630319356918335, 0.13222068548202515, 0.0, 0.27736297249794006, 0.0777440294623375, 0.7774403095245361, 0.19866108894348145, 0.0134222861379385, 0.011504816822707653, 1.2365176677703857, -0.38072067499160767, 0.7389777898788452, 1.813293695449829, -0.002780256327241659, 0.12572698295116425, 0.5176555514335632, 1.341562271118164, 0.0, 0.49541613459587097, 0.3490658402442932, 0.6172354221343994, 1.5707963705062866, 0.14037007093429565, 0.11190353333950043, 0.49643442034721375, 1.5707963705062866, 0.2197418510913849, 1.5732457637786865, 1.113669991493225, 1.5707963705062866, 0.27171701192855835, 1.7453292608261108, 0.8778204917907715, 0.1496206372976303, 1.5707963705062866, 0.20527642965316772, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106767177581787, 0.5442397594451904, 4.552339697529447e-18, 0.004773720633238554, 0.11234118789434433, -0.5476682186126709], "mean": [1.0710675716400146, -0.5707042217254639, 0.06623105704784393, 1.1818572282791138, -0.49519479274749756, -0.5181747078895569, 0.5441540479660034, 1.181596279144287, -0.19918833673000336, 0.5250969529151917, -0.3427959382534027, 0.8069785833358765, 1.2582358121871948, 0.18897438049316406, 0.0015422849683091044, 0.08517184108495712, 1.2458117008209229, 0.1751231998205185, 0.005390593316406012, 0.1585216522216797, 1.0942368507385254, 0.07686304301023483, 0.0, 0.25730419158935547, 0.0709155723452568, 0.7091551423072815, 0.09659478813409805, 0.0073586502112448215, 0.0007513383752666414, 0.8696157336235046, -0.750338613986969, 0.4099031388759613, 1.4872041940689087, -1.297013759613037, -0.2394585907459259, -0.1701463758945465, 1.260990023612976, -0.26145389676094055, 0.2312333881855011, -0.08925293385982513, 0.5564594864845276, 1.2764263153076172, 0.07666172087192535, 0.10009870678186417, 0.42306381464004517, 1.5095795392990112, 0.1621612012386322, 1.2401429414749146, 1.044433832168579, 1.4035528898239136, 0.15586093068122864, 1.604627013206482, 0.810422420501709, 0.12695170938968658, 1.520706057548523, 0.12785950303077698, 1.4771974086761475, 1.1952250003814697, 0.5626831650733948, -1.106786847114563, 0.5167175531387329, -0.024941839277744293, -0.0006091181421652436, -0.00532905338332057, -0.7138513922691345], "std": [0.04560748487710953, 0.06978727132081985, 0.038678497076034546, 0.0981903225183487, 0.1540204882621765, 0.050192710012197495, 0.03222855180501938, 0.15606394410133362, 0.028799651190638542, 0.17939594388008118, 0.04630501940846443, 0.12382113933563232, 0.16923639178276062, 0.03327988460659981, 0.005812035407871008, 0.01159727480262518, 0.18861843645572662, 0.028690824285149574, 0.010657183825969696, 0.05413917824625969, 0.16130271553993225, 0.018245259299874306, 0.0, 0.04024587199091911, 0.010099022649228573, 0.10099023580551147, 0.02700524777173996, 0.0050237118266522884, 0.0027053304947912693, 0.21012996137142181, 0.17591817677021027, 0.1629190891981125, 0.17260199785232544, 0.42064914107322693, 0.20808561146259308, 0.16498024761676788, 0.16046682000160217, 0.061380691826343536, 0.18197490274906158, 0.15779364109039307, 0.07895810157060623, 0.22332827746868134, 0.02572350762784481, 0.014483707025647163, 0.07929006218910217, 0.1994255632162094, 0.027821091935038567, 0.4604698419570923, 0.1672257035970688, 0.3276066482067108, 0.03319303318858147, 0.36038216948509216, 0.14073264598846436, 0.028991250321269035, 0.1890934556722641, 0.028246475383639336, 0.5806272625923157, 0.4658864140510559, 1.7981602695726906e-07, 2.521242458897177e-05, 0.004695457872003317, 0.005536311771720648, 0.00240532448515296, 0.04748965799808502, 0.0925060361623764], "count": [1730]}, "observation.state.tcp_pose": {"min": [0.36155784130096436, 0.14679990708827972, 1.0366630554199219, -1.2089040279388428, 0.9895980358123779, -1.542559266090393, 0.27043554186820984, -0.3112927973270416, 0.9890010952949524, -0.43292734026908875, 1.0215543508529663, 0.028772134333848953], "max": [0.439567506313324, 0.24874185025691986, 1.1585060358047485, -0.45702749490737915, 1.4058513641357422, -1.2289302349090576, 0.44800660014152527, -0.07444752752780914, 1.271085500717163, 1.2084375619888306, 2.0503921508789062, 1.4535821676254272], "mean": [0.4211404323577881, 0.1718006581068039, 1.0766065120697021, -0.6240447759628296, 1.1985440254211426, -1.3334393501281738, 0.3746785521507263, -0.20046862959861755, 1.1072016954421997, 0.3097023665904999, 1.6156586408615112, 0.763089120388031], "std": [0.014699439518153667, 0.016781125217676163, 0.018829604610800743, 0.18631280958652496, 0.0603509359061718, 0.07060209661722183, 0.05716008320450783, 0.06407777965068817, 0.07572757452726364, 0.45046642422676086, 0.27900227904319763, 0.37343406677246094], "count": [1730]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.14701908826828003, 1.036643385887146, -1.208855390548706, 0.989497184753418, -1.5425478219985962, 0.27040526270866394, -0.31207332015037537, 0.9890859723091125, -0.4324524700641632, 1.0119009017944336, 0.027909699827432632], "max": [0.4398781955242157, 0.2486213594675064, 1.1586717367172241, -0.45735642313957214, 1.405645489692688, -1.2289544343948364, 0.44754207134246826, -0.07452937960624695, 1.2752114534378052, 1.2064836025238037, 2.050682783126831, 1.455187439918518], "mean": [0.42116355895996094, 0.1717926412820816, 1.0766448974609375, -0.623862624168396, 1.1983083486557007, -1.3335301876068115, 0.374664843082428, -0.20074287056922913, 1.1073691844940186, 0.3103868067264557, 1.6154311895370483, 0.7627034783363342], "std": [0.014736125245690346, 0.01679922640323639, 0.01891421526670456, 0.18591077625751495, 0.06035647168755531, 0.07060310989618301, 0.057287055999040604, 0.06443912535905838, 0.07593387365341187, 0.45096978545188904, 0.2788217067718506, 0.3736245334148407], "count": [1730]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.84450867052023], "std": [6.697302227653873], "count": [1730]}, "observation.tactile": {"min": [-9.086002349853516, -0.002838134765625, -0.00225830078125, -0.23836994171142578, -0.030893325805664062, -0.177260160446167, -0.6264419555664062, -0.0030517578125, -0.00469970703125, -0.16396427154541016, -0.01503610610961914, -0.014959573745727539, -0.35323524475097656, -0.039093017578125, -0.00634765625, -0.16400432586669922, -0.017346858978271484, -0.008335351943969727, -0.027233123779296875, -0.01202392578125, -0.00390625, -0.000537872314453125, -0.0003972053527832031, -0.0005068778991699219, -0.003238677978515625, -0.0029449462890625, -0.0018310546875, -0.0001678466796875, -0.0014376640319824219, -0.00027930736541748047, -0.17107772827148438, -0.03369140625, -6.103515625e-05, -0.39454174041748047, -0.029120445251464844, -0.0067980289459228516, -8.118335723876953, -0.008026123046875, -0.00701904296875, -0.09967708587646484, -0.02509593963623047, -0.1215672492980957, -0.024021148681640625, -0.00787353515625, -0.00616455078125, -0.0001010894775390625, -0.0012173652648925781, -0.0005342960357666016, -0.0173797607421875, -0.0054931640625, -0.01690673828125, -0.03037548065185547, -0.0064144134521484375, -0.0005154609680175781, -0.08502578735351562, -0.015411376953125, -0.00482177734375, -2.47955322265625e-05, -0.0011019706726074219, -0.0014033317565917969], "max": [0.09319686889648438, 10.16168212890625, 9.00323486328125, 0.0007495880126953125, 0.0018491744995117188, 0.0018227100372314453, 5.166038513183594, 6.57122802734375, 12.78045654296875, 0.0011463165283203125, 0.01822805404663086, 0.08351302146911621, 3.6921749114990234, 6.010589599609375, 11.682373046875, 0.0022821426391601562, 0.005556583404541016, 0.06389212608337402, 0.011829376220703125, 0.0032501220703125, 0.01055908203125, 0.0003490447998046875, 0.00042319297790527344, 0.0, 0.018131256103515625, 0.0149993896484375, 0.00677490234375, 0.0015544891357421875, 0.0001354217529296875, 4.38690185546875e-05, 7.192203521728516, 23.4693603515625, 17.04791259765625, 0.006501197814941406, 0.032326698303222656, 0.1102445125579834, 1.4246330261230469, 10.399139404296875, 6.66064453125, 0.0032434463500976562, 0.008679389953613281, 0.027740001678466797, 0.022792816162109375, 0.0072784423828125, 0.019683837890625, 0.001453399658203125, 0.0004856586456298828, 4.0531158447265625e-05, 3.4933929443359375, 1.418212890625, 1.21734619140625, 0.0015993118286132812, 0.0013508796691894531, 0.061734676361083984, 0.0077972412109375, 0.0101165771484375, 0.00537109375, 0.001384735107421875, 0.000118255615234375, 4.220008850097656e-05], "mean": [-5.8430891036987305, 5.732339382171631, 4.382918834686279, -0.10323162376880646, -0.014781122095882893, -0.12417751550674438, 1.9576607942581177, 1.999815821647644, 6.451515197753906, -0.08572732657194138, -0.003610899904742837, 0.03447333723306656, 0.11028458178043365, 0.2890361547470093, 1.0039209127426147, -0.0170920230448246, -0.00017238986038137227, 0.002016819780692458, -0.0017860324587672949, -0.0054549905471503735, 0.001584162237122655, -1.192754371004412e-05, -2.1893027223995887e-05, -0.0002670362591743469, -2.1125264538568445e-05, 0.0011363476514816284, 0.0025326062459498644, 0.0003939876623917371, -0.00022752326913177967, -6.798243703087792e-05, 0.8732266426086426, 1.4890474081039429, 1.9367130994796753, -0.04389110952615738, -0.0022319762501865625, 0.016113709658384323, -0.5607718825340271, 0.7789284586906433, 0.9192505478858948, -0.01673310063779354, -0.0012735691852867603, -0.010852704755961895, 0.004656501580029726, -0.0013394835405051708, -0.0007626042934134603, 0.0005982393631711602, -0.00040370921487919986, -0.0002411761088296771, 0.02345346473157406, 0.006397798657417297, -0.003189633833244443, 0.0008834254695102572, -0.0007631186163052917, -0.0001110323573811911, -0.004182988777756691, 0.0007273502997122705, 0.0001350182283204049, 0.0004599929670803249, -0.0002835728519130498, -0.00011734872532542795], "std": [2.428331136703491, 2.485788106918335, 1.9338642358779907, 0.04832569137215614, 0.006868002470582724, 0.050803303718566895, 0.9081494808197021, 0.9477003216743469, 2.638071060180664, 0.03508870676159859, 0.0031312222126871347, 0.01607426628470421, 0.4145170748233795, 0.4865337014198303, 1.0313104391098022, 0.015088452957570553, 0.002141775330528617, 0.006755607668310404, 0.004754727240651846, 0.0020785960368812084, 0.0017051990143954754, 0.00011214108963031322, 7.955873297760263e-05, 7.216559606604278e-05, 0.0012508304789662361, 0.0013841975014656782, 0.0011922753183171153, 0.0001399788015987724, 0.00013302582374308258, 4.485599129111506e-05, 1.4650291204452515, 2.8825414180755615, 3.004199504852295, 0.07064569741487503, 0.0063273245468735695, 0.025452133268117905, 1.5281041860580444, 1.406524896621704, 1.48743736743927, 0.027507759630680084, 0.002735196379944682, 0.030099134892225266, 0.0065470412373542786, 0.0014008177677169442, 0.002040225313976407, 0.0003107196243945509, 0.0003181018400937319, 0.0001109415024984628, 0.14248937368392944, 0.05706147477030754, 0.04389951378107071, 0.0012997828889638186, 0.00039291821303777397, 0.002132929628714919, 0.008060531690716743, 0.0017168112099170685, 0.0015415804227814078, 0.00018841878045350313, 0.00017018592916429043, 8.121899008983746e-05], "count": [1730]}, "timestamp": {"min": [0.0], "max": [57.63333333333333], "mean": [28.816666666666663], "std": [16.646929980563314], "count": [1730]}, "frame_index": {"min": [0], "max": [1729], "mean": [864.5], "std": [499.4078994168995], "count": [1730]}, "episode_index": {"min": [48], "max": [48], "mean": [48.0], "std": [0.0], "count": [1730]}, "index": {"min": [75225], "max": [76954], "mean": [76089.5], "std": [499.4078994168995], "count": [1730]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1730]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3437708616256714]], [[0.3431205451488495]], [[0.3429705798625946]]], "std": [[[0.2185036838054657]], [[0.2185044288635254]], [[0.21855145692825317]]], "count": [1730]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30344530940055847]], [[0.30485332012176514]], [[0.3016044795513153]]], "std": [[[0.1702461540699005]], [[0.17214184999465942]], [[0.17073607444763184]]], "count": [1730]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3089580833911896]], [[0.3067742586135864]], [[0.304023414850235]]], "std": [[[0.17302283644676208]], [[0.1729186326265335]], [[0.17084093391895294]]], "count": [1730]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3426841199398041]], [[0.34206897020339966]], [[0.34201472997665405]]], "std": [[[0.2197430282831192]], [[0.21982398629188538]], [[0.21991769969463348]]], "count": [1730]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7607843279838562]], [[0.7607843279838562]], [[0.7607843279838562]]], "mean": [[[0.00797275546938181]], [[0.00797275546938181]], [[0.00797275546938181]]], "std": [[[0.060572508722543716]], [[0.060572508722543716]], [[0.060572508722543716]]], "count": [1730]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.472839891910553]], [[0.472839891910553]], [[0.472839891910553]]], "std": [[[0.1527635008096695]], [[0.1527635008096695]], [[0.1527635008096695]]], "count": [1730]}}}
+{"episode_index": 49, "stats": {"observation.state": {"min": [0.9249064326286316, -0.7846124172210693, 0.0001531583839096129, 1.1233940124511719, -0.6516830921173096, -0.7697935104370117, 0.4943543076515198, 0.007645347621291876, -0.25800010561943054, -0.11879902333021164, -0.31722456216812134, 0.002673049457371235, 0.0032084642443805933, -0.00014130090130493045, 0.0034282682463526726, 0.0008398429490625858, 0.003993715159595013, -0.0007717583212070167, 0.003536764532327652, 0.0008292007842101157, 0.0033755232580006123, 0.00012314766354393214, 0.0031233441550284624, 0.0008828549762256444, 0.005897619761526585, 0.00325948977842927, 0.00011701499170158058, 0.006698401644825935, 0.0008136810502037406, 0.365102618932724, -1.0190966129302979, 0.002238173969089985, 1.2060234546661377, -1.7911486625671387, -0.7678735256195068, -0.3780768811702728, 0.030079470947384834, -0.32124951481819153, -0.0608137845993042, -0.31599777936935425, 0.006868946366012096, 0.010326500982046127, -8.807291305856779e-05, 0.0034878349397331476, 0.0020716716535389423, 0.031058982014656067, 0.000205817908863537, 0.003386429976671934, 0.005404437892138958, 0.015527407638728619, 0.0016308494377881289, 0.006722157821059227, 0.005404437892138958, 0.010242164134979248, 0.05102412402629852, 0.0020049537997692823, 0.006781015079468489, 0.0008629009244032204, 0.5622039437294006, -1.1070547103881836, 0.5082269906997681, -0.03278883919119835, -0.009875001385807991, -0.10910438001155853, -0.8516469597816467], "max": [1.1339105367660522, -0.4871305227279663, 0.22669456899166107, 1.5696357488632202, -7.466172246495262e-05, -0.47020429372787476, 0.6811470985412598, 1.2248427867889404, -6.50439687888138e-05, 0.6317457556724548, -0.0024452037177979946, 1.1025844812393188, 1.2311683893203735, 0.2651594281196594, 0.2439098209142685, 0.08819104731082916, 1.3390239477157593, 0.23322561383247375, 0.05977433919906616, 0.19365209341049194, 1.1699320077896118, 0.15164245665073395, 0.003176883328706026, 0.2581736743450165, 0.05861120671033859, 0.8077170848846436, 0.21269971132278442, 0.006748040672391653, 0.008225937373936176, 1.1407320499420166, -0.26006048917770386, 0.83774334192276, 1.8013970851898193, -0.002523278584703803, 0.0496736541390419, 0.5176399946212769, 1.3314286470413208, -0.0014515594812110066, 0.5800437927246094, 0.3131720721721649, 0.6104487180709839, 1.46634840965271, 0.1360303908586502, 0.11546020954847336, 0.4940285384654999, 1.4667516946792603, 0.2376316487789154, 1.6533653736114502, 1.2387936115264893, 1.4669406414031982, 0.2670624852180481, 1.6536942720413208, 0.9610557556152344, 0.14024241268634796, 1.4671647548675537, 0.2164456844329834, 1.6534826755523682, 1.3080815076828003, 0.563066840171814, -1.1065753698349, 0.5439879298210144, -0.00028762139845639467, 0.008341020904481411, 0.09357282519340515, -0.5623956918716431], "mean": [1.0251740217208862, -0.5567402839660645, 0.11022734642028809, 1.1864161491394043, -0.5462910532951355, -0.6035946011543274, 0.5716636180877686, 1.1630548238754272, -0.19888068735599518, 0.5073129534721375, -0.3085385262966156, 0.8401954174041748, 1.1467010974884033, 0.22694693505764008, 0.1765259951353073, 0.08460624516010284, 1.2727912664413452, 0.20079104602336884, 0.006960649508982897, 0.1429917812347412, 1.108750343322754, 0.11088743805885315, 0.003152004210278392, 0.24266144633293152, 0.05606117844581604, 0.7481593489646912, 0.14827056229114532, 0.006723131984472275, 0.0014839987270534039, 0.8774088025093079, -0.6859655976295471, 0.43151578307151794, 1.435280203819275, -1.2530431747436523, -0.3005305230617523, -0.07100746780633926, 1.2404862642288208, -0.2577527165412903, 0.2629574239253998, -0.07753195613622665, 0.5671405792236328, 1.2469823360443115, 0.08019014447927475, 0.09742853045463562, 0.4307863712310791, 1.4136333465576172, 0.1659867763519287, 1.3325145244598389, 1.069034218788147, 1.3698056936264038, 0.15664449334144592, 1.4256333112716675, 0.8456826210021973, 0.10997233539819717, 1.4232115745544434, 0.13233263790607452, 1.4059507846832275, 1.1139026880264282, 0.5626831650733948, -1.106783151626587, 0.5122126936912537, -0.02568400837481022, 0.0009068220970220864, -0.01791164092719555, -0.7007392644882202], "std": [0.028226258233189583, 0.06642195582389832, 0.03685843199491501, 0.0844983458518982, 0.15937219560146332, 0.04130472242832184, 0.025620751082897186, 0.14481377601623535, 0.026411278173327446, 0.1897827535867691, 0.036182887852191925, 0.10808560252189636, 0.13593116402626038, 0.04179464653134346, 0.06759314984083176, 0.01059721503406763, 0.18933410942554474, 0.02983427606523037, 0.009019321762025356, 0.050222378224134445, 0.15569962561130524, 0.020262543112039566, 7.223392458399758e-06, 0.04199407622218132, 0.008250347338616848, 0.10095465928316116, 0.0270251352339983, 7.800886123732198e-06, 0.0005704445648007095, 0.21142198145389557, 0.18186789751052856, 0.17147813737392426, 0.17063190042972565, 0.39135995507240295, 0.2167276293039322, 0.16995356976985931, 0.1435319036245346, 0.05407901853322983, 0.21482661366462708, 0.15643379092216492, 0.06986470520496368, 0.2041802853345871, 0.029552366584539413, 0.012654172256588936, 0.0649789348244667, 0.167426198720932, 0.023450085893273354, 0.5249881148338318, 0.21747642755508423, 0.2155977338552475, 0.029636474326252937, 0.536990761756897, 0.13684941828250885, 0.028628988191485405, 0.15233513712882996, 0.030729476362466812, 0.5716047286987305, 0.45050081610679626, 5.0172788178315386e-05, 3.739743624464609e-05, 0.004130625631660223, 0.005119754932820797, 0.00451950216665864, 0.05537852272391319, 0.08786150813102722], "count": [1614]}, "observation.state.joint_torque": {"min": [-42.907501220703125, -6.373499870300293, -22.783000946044922, -11.23900032043457, -0.12800000607967377, -1.2272000312805176, 0.6520000100135803, -1.1296188831329346, -0.4762992560863495, -0.8052628636360168, -0.6238301992416382, -0.4084230065345764, -0.4375157058238983, -0.4384751617908478, -0.23741662502288818, -0.04780469834804535, -0.5238674879074097, -0.342528760433197, -0.07139100879430771, -0.019978083670139313, -0.5334621071815491, -1.101464867591858, -0.0016602561809122562, -0.027826614677906036, -0.08971942216157913, -0.4327183663845062, -0.3290962278842926, -0.0016602561809122562, -0.028540121391415596, 14.409000396728516, -14.642999649047852, 2.365999937057495, -14.637999534606934, -2.0127999782562256, -1.8143999576568604, -3.3552000522613525, -1.684876799583435, -0.8252458572387695, -2.006943702697754, -0.7257307171821594, -0.167685866355896, -0.7666119337081909, -1.2655333280563354, -0.09629485011100769, -0.01712406985461712, -0.44231298565864563, -0.5075565576553345, -0.7338331937789917, -0.025686107575893402, -0.6533951163291931, -0.47973212599754333, -0.48313450813293457, -0.02925362065434456, -0.06157214939594269, -0.3732316493988037, -0.749341607093811, -0.5694678425788879, -0.10702544450759888, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-15.086999893188477, 11.11050033569336, -7.394000053405762, 0.47600001096725464, 2.2095999717712402, 1.562399983406067, 4.838399887084961, 1.0022661685943604, 1.1321660280227661, 1.3719292879104614, 0.9369879364967346, 0.11621791869401932, 0.7522199749946594, 0.7368685603141785, 0.3619358241558075, 0.07563132047653198, 0.6063814759254456, 0.6390032172203064, 0.08135254681110382, 0.06278826296329498, 0.8731124401092529, 0.2552174925804138, 0.0016602561809122562, 0.02425910159945488, 0.03342488408088684, 0.36075857281684875, 0.27536624670028687, 0.0016602561809122562, 0.012843053787946701, 51.19350051879883, 18.95400047302246, 29.66900062561035, 0.07599999755620956, 0.24320000410079956, 3.0727999210357666, 0.328000009059906, 2.3942317962646484, 4.3567376136779785, 1.7049700021743774, 1.1880112886428833, 0.42834609746932983, 2.1405649185180664, 0.8999775648117065, 1.0559228658676147, 0.21405088901519775, 0.6390032172203064, 0.42696160078048706, 0.24073712527751923, 0.021405089646577835, 0.6984899640083313, 1.00455904006958, 0.3453332483768463, 0.02497260272502899, 0.49125784635543823, 0.39913713932037354, 0.33773142099380493, 0.23409610986709595, 0.06849627941846848, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-31.258846282958984, 0.6576172709465027, -14.307882308959961, -5.164684295654297, 0.3834381401538849, 0.6619565486907959, 1.7903423309326172, -0.12957915663719177, 0.12572859227657318, 0.32351750135421753, 0.10045535117387772, 0.0020316035952419043, 0.11622878909111023, 0.1242719367146492, 0.06319776177406311, 0.03613980486989021, 0.05775626003742218, 0.11217821389436722, -0.0011109531624242663, 0.012957094237208366, 0.029079943895339966, -0.12833423912525177, 3.0859780508762924e-06, 0.00039830850437283516, 0.00015232279838528484, 0.024929529055953026, 0.02763780951499939, 4.1146372495859396e-06, -0.004746078047901392, 27.483367919921875, 4.055544376373291, 14.01461410522461, -7.218371868133545, -0.5830060839653015, 1.2110837697982788, -1.1156952381134033, 0.1159675121307373, 0.4881569743156433, 0.160406231880188, 0.057667993009090424, 0.03324006497859955, 0.3513356149196625, -0.11230902373790741, 0.15706385672092438, 0.04217112809419632, 0.01588224619626999, 0.008251719176769257, 0.0031610645819455385, 0.0019747314509004354, -0.02434387058019638, 0.08950290083885193, 0.0012961108004674315, -0.0006578032625839114, 0.10424505919218063, 0.00412375945597887, -0.09282117336988449, 0.000693318375851959, 0.00020379549823701382, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.743531584739685, 1.6230676174163818, 0.9365593791007996, 1.0028166770935059, 0.26582732796669006, 0.40614843368530273, 0.38785189390182495, 0.22914285957813263, 0.22172163426876068, 0.3655749261379242, 0.20539534091949463, 0.02661726623773575, 0.1514921337366104, 0.15219394862651825, 0.07285868376493454, 0.01995426043868065, 0.16259577870368958, 0.14163900911808014, 0.007345843128859997, 0.012405247427523136, 0.14842589199543, 0.19013451039791107, 9.23549450817518e-05, 0.006042898166924715, 0.006569076329469681, 0.07471514493227005, 0.06036050617694855, 0.00011681569594657049, 0.007959184236824512, 4.494236946105957, 3.001730442047119, 2.0618743896484375, 2.538973808288574, 0.28494638204574585, 0.6499544382095337, 0.6187629699707031, 0.4892102777957916, 0.8747847080230713, 0.37520653009414673, 0.2948981523513794, 0.0702047049999237, 0.6104996204376221, 0.35431936383247375, 0.27517932653427124, 0.06491927802562714, 0.0728362575173378, 0.07627302408218384, 0.04019087553024292, 0.0060407123528420925, 0.13145504891872406, 0.20822708308696747, 0.019012300297617912, 0.007812265306711197, 0.09712416678667068, 0.08268936723470688, 0.17989709973335266, 0.02401489019393921, 0.005643445998430252, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1614]}, "observation.state.tcp": {"min": [0.3617912530899048, 0.1435193419456482, 1.038972020149231, -1.2088582515716553, 0.9322494268417358, -1.477462887763977, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2789270281791687, -0.2861870527267456, 0.9880961775779724, -0.44774723052978516, 0.7399104833602905, 0.27849826216697693, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4353311061859131, 0.24729222059249878, 1.1426407098770142, -0.42334067821502686, 1.3194215297698975, -1.2291074991226196, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4501887261867523, -0.08783071488142014, 1.2674307823181152, 1.2062709331512451, 2.0195796489715576, 1.4048515558242798, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4138128459453583, 0.16868993639945984, 1.0734952688217163, -0.6056751012802124, 1.120843529701233, -1.2931143045425415, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.38309726119041443, -0.1855698674917221, 1.1177560091018677, 0.3333291709423065, 1.513004183769226, 0.8672266602516174, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.011328570544719696, 0.020564720034599304, 0.015539119020104408, 0.1780339479446411, 0.05750582367181778, 0.04449255019426346, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05610444396734238, 0.06386487185955048, 0.08204904198646545, 0.4174208641052246, 0.32800599932670593, 0.30276867747306824, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1614]}, "action": {"min": [0.9248511791229248, -0.784681499004364, -8.557927072231756e-18, 1.1233513355255127, -0.6516641974449158, -0.7699999809265137, 0.4943769574165344, 0.0, -0.2572188973426819, -0.12720437347888947, -0.3490658402442932, 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, 0.3650929927825928, -1.0193217992782593, 0.0025749406777322292, 1.2059718370437622, -1.7917169332504272, -0.7674797177314758, -0.3783314824104309, 0.0, -0.3490658402442932, -0.06333637237548828, -0.33113735914230347, 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, 0.5626833438873291, -1.1069231033325195, 0.50764399766922, -0.03322441130876541, -0.010249647311866283, -0.10944373160600662, -0.8522174954414368], "max": [1.1340125799179077, -0.4870750904083252, 0.22684086859226227, 1.5700000524520874, 5.377424131012689e-19, -0.4699748158454895, 0.6815465688705444, 1.2286226749420166, 0.0, 0.6391820907592773, 0.0, 1.1068150997161865, 1.241600513458252, 0.26593342423439026, 0.24931147694587708, 0.0895078182220459, 1.3487857580184937, 0.23279231786727905, 0.06351527571678162, 0.19657941162586212, 1.1768192052841187, 0.15187472105026245, 0.0, 0.26164937019348145, 0.08186662197113037, 0.8186662793159485, 0.21093297004699707, 0.012214315123856068, 0.010584426112473011, 1.140714406967163, -0.26003289222717285, 0.8377580642700195, 1.8017263412475586, -0.003949394915252924, 0.049736253917217255, 0.516743540763855, 1.3310160636901855, 0.0, 0.582565426826477, 0.3490658402442932, 0.617523193359375, 1.5707963705062866, 0.14180821180343628, 0.11533908545970917, 0.4991958737373352, 1.5707963705062866, 0.23968178033828735, 1.7453292608261108, 1.2423806190490723, 1.5707963705062866, 0.26596468687057495, 1.7453292608261108, 0.9625253677368164, 0.15726178884506226, 1.5707963705062866, 0.2251739799976349, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106767177581787, 0.5442397594451904, -2.8898462013274416e-19, 0.00878304336220026, 0.09356653690338135, -0.5613956451416016], "mean": [1.0252196788787842, -0.5567623376846313, 0.11020784080028534, 1.1865192651748657, -0.5461868047714233, -0.6035751700401306, 0.5717054009437561, 1.15932035446167, -0.19792723655700684, 0.5127631425857544, -0.3425735831260681, 0.8387894630432129, 1.149387240409851, 0.2313225418329239, 0.1796209216117859, 0.086114302277565, 1.274735450744629, 0.20474819839000702, 0.00396763114258647, 0.14554700255393982, 1.111362338066101, 0.11147768795490265, 0.0, 0.24437673389911652, 0.07527931779623032, 0.7527937889099121, 0.14988626539707184, 0.00403998838737607, 0.00013857119483873248, 0.8777300119400024, -0.6866853833198547, 0.43126532435417175, 1.4353759288787842, -1.2523945569992065, -0.3016394376754761, -0.07054439187049866, 1.2422410249710083, -0.26056692004203796, 0.2643665671348572, -0.07644149661064148, 0.5693337917327881, 1.2593762874603271, 0.079749695956707, 0.10036754608154297, 0.43372759222984314, 1.5017483234405518, 0.1667250394821167, 1.3502612113952637, 1.070440411567688, 1.4448051452636719, 0.15641000866889954, 1.5031747817993164, 0.8473269939422607, 0.12663720548152924, 1.5139257907867432, 0.13139088451862335, 1.4738836288452148, 1.1883037090301514, 0.5626831650733948, -1.1067850589752197, 0.5122740268707275, -0.0257215965539217, 0.0009091896936297417, -0.017914900556206703, -0.7007823586463928], "std": [0.028240688145160675, 0.06645023077726364, 0.0368904285132885, 0.08473584800958633, 0.1596371829509735, 0.04135862737894058, 0.025566667318344116, 0.1602834165096283, 0.028879370540380478, 0.19274120032787323, 0.047145698219537735, 0.12635457515716553, 0.15317180752754211, 0.04488936439156532, 0.07016217708587646, 0.0119379423558712, 0.2010314166545868, 0.03336000442504883, 0.01039254292845726, 0.05138453468680382, 0.1681443303823471, 0.02179083786904812, 0.0, 0.04369755834341049, 0.011207371018826962, 0.11207371950149536, 0.02926429733633995, 0.005177464336156845, 0.0011789258569478989, 0.21136067807674408, 0.18216167390346527, 0.17160798609256744, 0.17069517076015472, 0.39135560393333435, 0.2173527032136917, 0.17012770473957062, 0.1627001017332077, 0.06453356891870499, 0.21568094193935394, 0.16393432021141052, 0.08071953058242798, 0.2262008786201477, 0.029581967741250992, 0.01458168774843216, 0.07175478339195251, 0.21216514706611633, 0.026656316593289375, 0.535113513469696, 0.22392404079437256, 0.26211801171302795, 0.03209776058793068, 0.5703203678131104, 0.14439818263053894, 0.030156847089529037, 0.19875410199165344, 0.03238465636968613, 0.6005428433418274, 0.4817560315132141, 1.7988782019529026e-07, 2.429183223284781e-05, 0.004405035637319088, 0.005246383138000965, 0.004567076452076435, 0.05547420307993889, 0.08794671297073364], "count": [1614]}, "observation.state.tcp_pose": {"min": [0.3617912530899048, 0.1435193419456482, 1.038972020149231, -1.2088582515716553, 0.9322494268417358, -1.477462887763977, 0.2789270281791687, -0.2861870527267456, 0.9880961775779724, -0.44774723052978516, 0.7399104833602905, 0.27849826216697693], "max": [0.4353311061859131, 0.24729222059249878, 1.1426407098770142, -0.42334067821502686, 1.3194215297698975, -1.2291074991226196, 0.4501887261867523, -0.08783071488142014, 1.2674307823181152, 1.2062709331512451, 2.0195796489715576, 1.4048515558242798], "mean": [0.4138128459453583, 0.16868993639945984, 1.0734952688217163, -0.6056751012802124, 1.120843529701233, -1.2931143045425415, 0.38309726119041443, -0.1855698674917221, 1.1177560091018677, 0.3333291709423065, 1.513004183769226, 0.8672266602516174], "std": [0.011328570544719696, 0.020564720034599304, 0.015539119020104408, 0.1780339479446411, 0.05750582367181778, 0.04449255019426346, 0.05610444396734238, 0.06386487185955048, 0.08204904198646545, 0.4174208641052246, 0.32800599932670593, 0.30276867747306824], "count": [1614]}, "action.tcp_pose": {"min": [0.3611985743045807, 0.14344824850559235, 1.0388661623001099, -1.208855390548706, 0.9319666624069214, -1.4785133600234985, 0.27892565727233887, -0.2844899892807007, 0.9885982275009155, -0.45026615262031555, 0.7366077303886414, 0.27511313557624817], "max": [0.4353911280632019, 0.2473800927400589, 1.1428018808364868, -0.4234033524990082, 1.3195769786834717, -1.2289544343948364, 0.45063281059265137, -0.08742965757846832, 1.2678780555725098, 1.2051119804382324, 2.019850254058838, 1.4083566665649414], "mean": [0.4138180911540985, 0.1686769276857376, 1.0734871625900269, -0.605774998664856, 1.1208323240280151, -1.2932475805282593, 0.3830708861351013, -0.18587878346443176, 1.117895483970642, 0.33367595076560974, 1.5120079517364502, 0.866807758808136], "std": [0.011401496827602386, 0.020522044971585274, 0.015569189563393593, 0.17817823588848114, 0.057478711009025574, 0.04452721029520035, 0.056203100830316544, 0.06411455571651459, 0.08223825693130493, 0.4174864590167999, 0.3288736641407013, 0.3026542663574219], "count": [1614]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.369888475836431], "std": [6.930446474757817], "count": [1614]}, "observation.tactile": {"min": [-7.210887908935547, -0.00885009765625, -0.00048828125, -0.2591218948364258, -0.037453651428222656, -0.1699388027191162, -0.3125152587890625, -0.00262451171875, -0.003662109375, -0.1013040542602539, -0.012176513671875, -0.013653039932250977, -0.5324668884277344, -0.011962890625, -0.00860595703125, -0.3019590377807617, -0.018883228302001953, -0.016286134719848633, -0.025394439697265625, -0.007720947265625, -0.00762939453125, -0.0002498626708984375, -0.0009808540344238281, -0.0004646778106689453, -0.010440826416015625, -0.001129150390625, -0.00225830078125, -0.00021266937255859375, -0.0011587142944335938, -0.0003426074981689453, -1.5077075958251953, -0.02587890625, 0.0, -0.42928409576416016, -0.06952953338623047, -0.03729510307312012, -7.711875915527344, -0.008941650390625, -0.00531005859375, -0.1696329116821289, -0.01715993881225586, -0.1255335807800293, -0.0057353973388671875, -0.00592041015625, -0.007080078125, -0.00020694732666015625, -0.0017900466918945312, -0.0006191730499267578, -0.01157379150390625, -0.016387939453125, -0.01190185546875, -0.011151313781738281, -0.0010519027709960938, -0.0009007453918457031, -0.021478652954101562, -0.004119873046875, -0.00555419921875, -0.000202178955078125, -0.0019469261169433594, -0.0004906654357910156], "max": [0.4456062316894531, 8.841339111328125, 9.9404296875, 0.0004940032958984375, 0.00041484832763671875, 0.014723062515258789, 4.4394378662109375, 3.456207275390625, 7.8236083984375, 0.00145721435546875, 0.01395416259765625, 0.07718253135681152, 7.740970611572266, 8.57684326171875, 18.77593994140625, 0.0022516250610351562, 0.021445751190185547, 0.13187670707702637, 0.0096893310546875, 0.0056915283203125, 0.00445556640625, 0.0008640289306640625, 0.00012445449829101562, 0.0, 0.024700164794921875, 0.008544921875, 0.0142822265625, 0.0012989044189453125, 0.0004162788391113281, 0.00010728836059570312, 7.493268966674805, 22.78173828125, 20.438232421875, 0.001201629638671875, 0.02303028106689453, 0.15673565864562988, 1.9072647094726562, 11.235076904296875, 10.738037109375, 0.0015926361083984375, 0.02120065689086914, 0.0377964973449707, 0.04417610168457031, 0.027191162109375, 0.027862548828125, 0.0018491744995117188, 0.0004482269287109375, 0.00024890899658203125, 0.7055511474609375, 0.32293701171875, 0.789306640625, 0.0016698837280273438, 0.0028228759765625, 0.010037899017333984, 0.019430160522460938, 0.058502197265625, 0.0386962890625, 0.0011138916015625, 0.0007085800170898438, 0.0005750656127929688], "mean": [-2.5345351696014404, 3.7218122482299805, 2.2746400833129883, -0.05629844218492508, -0.006375768221914768, -0.05943024531006813, 2.2843806743621826, 1.2259767055511475, 3.7686471939086914, -0.05267033725976944, -0.0012174318544566631, 0.03659229353070259, 0.2761651277542114, 0.6251757144927979, 1.4371939897537231, -0.024788836017251015, 0.0016665691509842873, 0.0035156405065208673, -0.007204233203083277, -0.001322816009633243, -0.0025349631905555725, 0.00020840797515120357, -0.0001460282801417634, -0.00021072523668408394, 0.002882088767364621, 0.0035820810589939356, 0.0007689521880820394, 0.0005768187693320215, -0.0005270078545436263, -0.00016444758512079716, 1.3752158880233765, 3.2696855068206787, 3.419745445251465, -0.0790722444653511, -0.006172168999910355, 0.030052509158849716, -1.055726408958435, 1.3252508640289307, 2.0192368030548096, -0.0358368419110775, 0.0006208781851455569, -0.019365550950169563, 0.019211960956454277, 0.0018446589820086956, -0.0029576902743428946, 0.0011906517902389169, -0.0011144658783450723, -0.00041948442230932415, 0.014667796902358532, 0.001036898116581142, 0.007626539561897516, 0.00023260731541085988, -0.00037491897819563746, -0.0002264333888888359, 0.0026068149600178003, 0.00024719428620301187, -0.0007796163554303348, 0.0004264330491423607, -0.00030113389948382974, -0.00016240013064816594], "std": [1.4052650928497314, 1.8653982877731323, 1.2571752071380615, 0.032374460250139236, 0.0033765460830181837, 0.032613642513751984, 1.2404335737228394, 0.6376954317092896, 1.926579475402832, 0.025812529027462006, 0.0038227534387260675, 0.020063821226358414, 1.0415515899658203, 0.9288060665130615, 1.8453738689422607, 0.029035771265625954, 0.004368489608168602, 0.01879577897489071, 0.0059792953543365, 0.00175994832534343, 0.0017860393272712827, 0.00013455425505526364, 9.32873590500094e-05, 7.363205804722384e-05, 0.001980551751330495, 0.0015194425359368324, 0.0011611898662522435, 0.00016243757272604853, 0.00016166272689588368, 5.053123095422052e-05, 2.078339099884033, 5.02055025100708, 4.794285297393799, 0.11061437427997589, 0.011735263280570507, 0.04191160947084427, 2.1692590713500977, 1.9711525440216064, 2.917454242706299, 0.05119252949953079, 0.00626515643671155, 0.041456855833530426, 0.006494075525552034, 0.0014915164792910218, 0.001679055392742157, 0.0002602511958684772, 0.0001832369016483426, 6.5287844336126e-05, 0.05291708558797836, 0.021836210042238235, 0.04910585284233093, 0.0005997866974212229, 0.0003178887418471277, 0.0010154664050787687, 0.002853875048458576, 0.0018114218255504966, 0.0020603607408702374, 0.0002231314720120281, 0.0002225028583779931, 8.571359649067745e-05], "count": [1614]}, "timestamp": {"min": [0.0], "max": [53.766666666666666], "mean": [26.883333333333333], "std": [15.530719260251303], "count": [1614]}, "frame_index": {"min": [0], "max": [1613], "mean": [806.5], "std": [465.92157780753905], "count": [1614]}, "episode_index": {"min": [49], "max": [49], "mean": [49.0], "std": [0.0], "count": [1614]}, "index": {"min": [76955], "max": [78568], "mean": [77761.5], "std": [465.92157780753905], "count": [1614]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1614]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3387938141822815]], [[0.33815598487854004]], [[0.33809325098991394]]], "std": [[[0.21451202034950256]], [[0.2145547717809677]], [[0.21467716991901398]]], "count": [1614]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30247244238853455]], [[0.3042774200439453]], [[0.3013080060482025]]], "std": [[[0.1692117154598236]], [[0.1712827980518341]], [[0.17029708623886108]]], "count": [1614]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3088398575782776]], [[0.3068649470806122]], [[0.3040221035480499]]], "std": [[[0.17462708055973053]], [[0.1745750606060028]], [[0.17249760031700134]]], "count": [1614]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3361329138278961]], [[0.3355273902416229]], [[0.33557379245758057]]], "std": [[[0.21457676589488983]], [[0.21473786234855652]], [[0.2149069756269455]]], "count": [1614]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8039215803146362]], [[0.8039215803146362]], [[0.8039215803146362]]], "mean": [[[0.00802625622600317]], [[0.00802625622600317]], [[0.00802625622600317]]], "std": [[[0.06101587787270546]], [[0.06101587787270546]], [[0.06101587787270546]]], "count": [1614]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[0.95686274766922]], [[0.95686274766922]], [[0.95686274766922]]], "mean": [[[0.47350314259529114]], [[0.47350314259529114]], [[0.47350314259529114]]], "std": [[[0.15228965878486633]], [[0.15228965878486633]], [[0.15228965878486633]]], "count": [1614]}}}
+{"episode_index": 50, "stats": {"observation.state": {"min": [0.9750909805297852, -0.7800010442733765, -4.793690095539205e-06, 1.000481367111206, -0.7029780149459839, -0.770006537437439, 0.45200780034065247, 0.007673172280192375, -0.24745000898838043, -0.22412613034248352, -0.31722739338874817, 0.0025134962052106857, 0.003221711376681924, -0.011129694990813732, 0.0034243683330714703, 0.000846050854306668, 0.003941953647881746, -0.0006986547377891839, 0.003501308150589466, 0.0007937269401736557, 0.003328177612274885, 6.353638309519738e-05, 0.0030471133068203926, 0.0008509285398758948, 0.006262608803808689, 0.003276906907558441, 8.487875311402604e-05, 0.006400568876415491, 0.0008868458098731935, 0.3385467529296875, -1.0174344778060913, 0.003305249148979783, 1.1647708415985107, -1.8821420669555664, -0.7674458026885986, -0.41033002734184265, 0.006405180785804987, -0.3196602761745453, -0.14912749826908112, -0.3159596920013428, 0.006870010402053595, 0.003182951593771577, 5.764888919657096e-05, 0.003497053636237979, 0.0008757602190598845, 0.00331149622797966, -0.000321361847454682, 0.0033779204823076725, 0.0014176230179145932, 0.006836170796304941, -0.00015798181993886828, 0.0035403103101998568, 0.0009759737877175212, 0.010275344364345074, 0.0033355371560901403, -0.0002749971754383296, 0.006777114700525999, 0.000854919315315783, 0.5619163513183594, -1.107150673866272, 0.4922160804271698, -0.02454369328916073, 0.0001917476038215682, -0.10181797295808792, -0.8538520336151123], "max": [1.1220916509628296, -0.45419228076934814, 0.24222084879875183, 1.5699948072433472, 7.190535143308807e-06, -0.42326903343200684, 0.6981503367424011, 1.2169455289840698, -5.257696830085479e-05, 0.5754581093788147, -0.002381374593824148, 0.9458460807800293, 1.3019987344741821, 0.21017761528491974, 0.13386166095733643, 0.08576153218746185, 1.3624359369277954, 0.1997615545988083, 0.041683826595544815, 0.10553775727748871, 1.112573266029358, 0.17368368804454803, 0.9233444929122925, 0.25820425152778625, 0.061571795493364334, 0.8773002028465271, 0.22182928025722504, 0.08848967403173447, 0.07772450149059296, 1.048668622970581, -0.2749185264110565, 0.8010633587837219, 1.8219419717788696, -0.00348609103821218, 0.05917343124747276, 0.5167636275291443, 1.3243321180343628, 0.0011949979234486818, 0.5119011998176575, 0.31249305605888367, 0.6189876794815063, 1.4663723707199097, 0.12590454518795013, 0.11013112962245941, 0.4756029546260834, 1.4668388366699219, 0.22539541125297546, 1.653343677520752, 1.2062970399856567, 1.466874122619629, 0.24946098029613495, 1.6540744304656982, 0.9519190192222595, 0.13684618473052979, 1.4669288396835327, 0.19509173929691315, 1.653351068496704, 1.308067798614502, 0.5628750920295715, -1.106767177581787, 0.5439879298210144, 0.0, 0.02761165425181389, 0.058099523186683655, -0.5996906161308289], "mean": [1.0246912240982056, -0.5237564444541931, 0.10308075696229935, 1.0983949899673462, -0.5661196708679199, -0.5448790788650513, 0.6184069514274597, 1.1675622463226318, -0.19222383201122284, 0.43754687905311584, -0.30722346901893616, 0.7644444108009338, 1.2401368618011475, 0.17499710619449615, 0.0258043110370636, 0.08077467978000641, 1.2763185501098633, 0.16884970664978027, 0.00453370064496994, 0.08139799535274506, 1.0160040855407715, 0.08067742735147476, 0.34402981400489807, 0.22887971997261047, 0.06001865118741989, 0.8046665787696838, 0.114945188164711, 0.06327078491449356, 0.05492904409766197, 0.8022773861885071, -0.6704506874084473, 0.5579192638397217, 1.4265035390853882, -1.2516824007034302, -0.24708978831768036, -0.13637089729309082, 1.2320079803466797, -0.24379868805408478, 0.2491406798362732, -0.13613440096378326, 0.5683877468109131, 1.2210856676101685, 0.08143962174654007, 0.09957623481750488, 0.40815094113349915, 1.3986507654190063, 0.17211051285266876, 1.419258952140808, 1.0638471841812134, 1.345914602279663, 0.16030360758304596, 1.4970450401306152, 0.8390687108039856, 0.11045428365468979, 1.4362488985061646, 0.12454067170619965, 1.396962285041809, 1.1076502799987793, 0.5626831650733948, -1.1068512201309204, 0.49883952736854553, -0.01941007189452648, 0.0211982149630785, -0.02535274252295494, -0.7222889065742493], "std": [0.030411867424845695, 0.07177835702896118, 0.037092436105012894, 0.12181970477104187, 0.18841660022735596, 0.04555584490299225, 0.0437273234128952, 0.17107385396957397, 0.028432423248887062, 0.1661137044429779, 0.04215768724679947, 0.1127525120973587, 0.19353143870830536, 0.043214596807956696, 0.0131561029702425, 0.01166220847517252, 0.22029271721839905, 0.028354093432426453, 0.004356791730970144, 0.027729462832212448, 0.22936703264713287, 0.01968073472380638, 0.14317218959331512, 0.0648333877325058, 0.00796680711209774, 0.12623165547847748, 0.02566712722182274, 0.026746343821287155, 0.02392142452299595, 0.19396284222602844, 0.18313373625278473, 0.13458546996116638, 0.17773906886577606, 0.41706153750419617, 0.1591731458902359, 0.16006331145763397, 0.16732114553451538, 0.06256327778100967, 0.21193979680538177, 0.12562249600887299, 0.08276838809251785, 0.23085549473762512, 0.026717521250247955, 0.015229979529976845, 0.07870752364397049, 0.19682346284389496, 0.026232773438096046, 0.5405072569847107, 0.18758930265903473, 0.2761255204677582, 0.028850680217146873, 0.3769853115081787, 0.15234732627868652, 0.02421232871711254, 0.1679222732782364, 0.021851448342204094, 0.5761641263961792, 0.4537424147129059, 5.5869055358925834e-05, 3.0182562113623135e-05, 0.006693724077194929, 0.003804357023909688, 0.004686633590608835, 0.042904775589704514, 0.0707283467054367], "count": [1384]}, "observation.state.joint_torque": {"min": [-48.436500549316406, -5.672999858856201, -23.780000686645508, -11.793000221252441, -0.4880000054836273, -0.7447999715805054, 1.0296000242233276, -1.4760184288024902, -0.5947373509407043, -1.6925431489944458, -1.0438592433929443, -0.4084230065345764, -0.3828262388706207, -0.7522199153900146, -0.24239739775657654, -0.04423718526959419, -0.43943461775779724, -0.31374481320381165, -0.05810895934700966, -0.022832093760371208, -0.5190701484680176, -0.9949644207954407, -0.11787818372249603, -0.02425910159945488, -0.07828459143638611, -0.3828262388706207, -0.34252873063087463, -0.11123716086149216, -0.025686107575893402, 12.70199966430664, -6.640500068664551, 2.5889999866485596, -13.059000015258789, -1.8015999794006348, -2.330399990081787, -3.710400104522705, -1.1652777194976807, -1.0850454568862915, -1.2315053939819336, -0.7232453227043152, -0.2756025195121765, -0.5449756979942322, -1.2837631702423096, -0.12617947161197662, -0.02925362065434456, -0.3981776535511017, -0.3905019164085388, -0.5993524789810181, -0.026399608701467514, -0.8049904704093933, -0.5257863998413086, -0.1145576685667038, -0.03638865053653717, -0.04925772175192833, -0.6898548007011414, -1.075559377670288, -0.37521788477897644, -0.07491781562566757, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-15.742500305175781, 14.815500259399414, -5.711999893188477, 0.07100000232458115, 1.8847999572753906, 1.6519999504089355, 5.239200115203857, 0.690251886844635, 1.133439540863037, 1.3644731044769287, 1.0426164865493774, 0.08633331209421158, 0.9604237079620361, 0.442313015460968, 0.5246409177780151, 0.1020309254527092, 0.6725844144821167, 0.6821790933609009, 0.08633331209421158, 0.039242662489414215, 0.6984899640083313, 0.34924498200416565, 0.10957689583301544, 0.026399608701467514, 0.04354030638933182, 0.400096595287323, 0.4164074659347534, 0.09463459998369217, 0.014983562752604485, 54.266998291015625, 21.590999603271484, 32.185001373291016, -1.3550000190734863, 0.21279999613761902, 3.4231998920440674, 0.4848000109195709, 1.940855860710144, 3.150707244873047, 1.5160813331604004, 1.1097217798233032, 0.4781537652015686, 1.9611449241638184, 0.5833542943000793, 0.9513266682624817, 0.1726677119731903, 0.442313015460968, 0.31854212284088135, 0.3602755665779114, 0.022118592634797096, 0.7838823199272156, 1.1906951665878296, 0.14776279032230377, 0.03781566023826599, 0.49169760942459106, 0.3310151696205139, 0.345407098531723, 0.2722820043563843, 0.0635017603635788, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-31.901565551757812, 0.7372913956642151, -13.728614807128906, -4.700064182281494, 0.1741919219493866, 0.6989727020263672, 1.7620161771774292, -0.053791824728250504, 0.052424486726522446, 0.1692247837781906, 0.09849762171506882, 0.0007809441885910928, 0.1608218550682068, -0.05240791663527489, 0.00477083632722497, 0.03408941254019737, 0.0226134043186903, 0.1194387674331665, -0.0011780132772400975, 0.0017755093285813928, 0.03783990442752838, -0.09699961543083191, -0.0017322286730632186, -0.001106342882849276, -0.0005824821419082582, 0.012689254246652126, 0.00402919901534915, 0.0017514285864308476, 0.0006181280477903783, 27.55795669555664, 4.4985575675964355, 13.59122371673584, -8.114768981933594, -0.5761794447898865, 1.114255666732788, -1.1924687623977661, 0.04934455826878548, 0.4530327022075653, 0.14293532073497772, 0.038773901760578156, 0.04606853425502777, 0.29356861114501953, -0.1151537373661995, 0.13302817940711975, 0.035618457943201065, 0.005801142193377018, -0.0037685343995690346, 0.0028094809968024492, 0.001355864922516048, 0.016284573823213577, 0.16689279675483704, 0.0042142197489738464, 1.8559832824394107e-05, 0.2114201784133911, -0.00796274933964014, -0.12956510484218597, 0.002943838946521282, 0.0005067723686806858, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.0972657203674316, 1.505808711051941, 1.1280993223190308, 1.0561877489089966, 0.35891178250312805, 0.45331162214279175, 0.4308122992515564, 0.18532788753509521, 0.19915024936199188, 0.33789539337158203, 0.21392397582530975, 0.03826422989368439, 0.182846337556839, 0.1434691697359085, 0.07975652813911438, 0.021844027563929558, 0.1807447373867035, 0.14948107302188873, 0.007194994483143091, 0.007102053612470627, 0.15267905592918396, 0.1667686402797699, 0.02115851826965809, 0.009056966751813889, 0.006372535601258278, 0.08412552624940872, 0.06560607999563217, 0.016180099919438362, 0.006798883434385061, 4.723465442657471, 3.484490156173706, 2.142090320587158, 2.0156216621398926, 0.2727174460887909, 0.7641083002090454, 0.6378287076950073, 0.41718828678131104, 0.7700188159942627, 0.31300902366638184, 0.28709524869918823, 0.09076257795095444, 0.4795873165130615, 0.32489731907844543, 0.19757509231567383, 0.04659336060285568, 0.08718849718570709, 0.06992699950933456, 0.029766635969281197, 0.005668662488460541, 0.19912326335906982, 0.23517368733882904, 0.018222913146018982, 0.008082496002316475, 0.15593619644641876, 0.11057695746421814, 0.20671088993549347, 0.021226542070508003, 0.004921416286379099, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1384]}, "observation.state.tcp": {"min": [0.3616013824939728, 0.15455889701843262, 1.0374786853790283, -1.2088816165924072, 0.8999800086021423, -1.5406684875488281, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2776043117046356, -0.3122972548007965, 0.996301531791687, -0.2660745680332184, 1.1163545846939087, 0.19358091056346893, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4374921917915344, 0.2578659653663635, 1.136274814605713, -0.32908493280410767, 1.2988594770431519, -1.2188326120376587, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.45171675086021423, -0.06596376746892929, 1.2441030740737915, 1.2058382034301758, 2.0105128288269043, 1.5917938947677612, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4150436520576477, 0.18169604241847992, 1.0718188285827637, -0.5491350889205933, 1.1200238466262817, -1.2833385467529297, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.38699379563331604, -0.18585562705993652, 1.1216144561767578, 0.4331309497356415, 1.5313133001327515, 0.8976225256919861, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.013407371006906033, 0.01693612150847912, 0.019811583682894707, 0.2317882776260376, 0.057025402784347534, 0.06874046474695206, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.05691936984658241, 0.07301013916730881, 0.07703734189271927, 0.41518646478652954, 0.24242158234119415, 0.37689363956451416, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1384]}, "action": {"min": [0.9750083088874817, -0.7799999713897705, -8.582423198891902e-18, 1.0003817081451416, -0.7029574513435364, -0.7699999809265137, 0.4520326852798462, 0.0, -0.2460971474647522, -0.22760330140590668, -0.3490658402442932, 0.0, 0.0, -0.012260980904102325, 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, 0.3385355472564697, -1.0179269313812256, 0.0031539625488221645, 1.1647214889526367, -1.882127285003662, -0.7678688764572144, -0.4103212058544159, 0.0, -0.34321755170822144, -0.15144436061382294, -0.31905728578567505, 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, 0.5626833438873291, -1.1069231033325195, 0.4918002188205719, -0.02465483359992504, -1.3010120012999409e-18, -0.10228811204433441, -0.8542755246162415], "max": [1.1221240758895874, -0.454161137342453, 0.24232472479343414, 1.5700000524520874, -3.076140975453279e-18, -0.423132061958313, 0.7231717705726624, 1.2160632610321045, 0.0, 0.5863460302352905, 0.0, 0.950732409954071, 1.308708667755127, 0.20796102285385132, 0.13861559331417084, 0.08870244026184082, 1.3690040111541748, 0.19751065969467163, 0.04865617677569389, 0.10704290866851807, 1.117432713508606, 0.17526787519454956, 0.9293054938316345, 0.26164937019348145, 0.08873116970062256, 0.8873117566108704, 0.22109556198120117, 0.09462741762399673, 0.0807640329003334, 1.0491015911102295, -0.2748168706893921, 0.8012199997901917, 1.8216108083724976, -0.0035691449884325266, 0.05925091356039047, 0.5170257687568665, 1.3263182640075684, 0.0, 0.5180423855781555, 0.3490658402442932, 0.6236588954925537, 1.5657628774642944, 0.12512606382369995, 0.11506357789039612, 0.48055803775787354, 1.5707963705062866, 0.22799867391586304, 1.7453292608261108, 1.2114613056182861, 1.5707963705062866, 0.2509123682975769, 1.7453292608261108, 0.9533214569091797, 0.15437600016593933, 1.5707963705062866, 0.20096200704574585, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.5442397594451904, 1.6269109262857534e-18, 0.02793325111269951, 0.05833347886800766, -0.6000000238418579], "mean": [1.024728536605835, -0.5238832235336304, 0.10310708731412888, 1.0985562801361084, -0.5662822127342224, -0.5449144840240479, 0.6187439560890198, 1.1677294969558716, -0.19044651091098785, 0.4441851079463959, -0.34040361642837524, 0.7674272060394287, 1.2465412616729736, 0.17614755034446716, 0.025079527869820595, 0.08441059291362762, 1.2788254022598267, 0.1722521334886551, 0.0007560176309198141, 0.08306349068880081, 1.0192408561706543, 0.08198577910661697, 0.34434765577316284, 0.23142147064208984, 0.08099614083766937, 0.8099620938301086, 0.11473182588815689, 0.06730174273252487, 0.05767371505498886, 0.8022436499595642, -0.6710602641105652, 0.5579397082328796, 1.4266417026519775, -1.2511709928512573, -0.24744726717472076, -0.13644194602966309, 1.2337702512741089, -0.24355348944664001, 0.2506048083305359, -0.13671553134918213, 0.5710111260414124, 1.2349306344985962, 0.08058489859104156, 0.1009744182229042, 0.41040152311325073, 1.4720425605773926, 0.17287561297416687, 1.4957845211029053, 1.065308928489685, 1.4172667264938354, 0.16104096174240112, 1.5732793807983398, 0.8404380679130554, 0.12768302857875824, 1.5345646142959595, 0.12393222749233246, 1.4722926616668701, 1.1809595823287964, 0.5626831650733948, -1.1068530082702637, 0.4989040493965149, -0.01944923587143421, 0.021234942600131035, -0.025381069630384445, -0.7223392128944397], "std": [0.030455222353339195, 0.07201054692268372, 0.03715730085968971, 0.12210658192634583, 0.18839216232299805, 0.045670490711927414, 0.04348944500088692, 0.1880040019750595, 0.03179711103439331, 0.16559365391731262, 0.05402616038918495, 0.12778340280056, 0.21086953580379486, 0.04419218748807907, 0.014855352230370045, 0.01357090100646019, 0.2327391654253006, 0.03189357742667198, 0.00506706815212965, 0.02847296930849552, 0.23195020854473114, 0.021590521559119225, 0.14995336532592773, 0.06500353664159775, 0.01377609372138977, 0.1377609223127365, 0.027651341632008553, 0.02858900837600231, 0.024504194036126137, 0.19479040801525116, 0.18362055718898773, 0.13491010665893555, 0.1780582070350647, 0.4173119366168976, 0.1593785285949707, 0.1601310670375824, 0.1871965229511261, 0.06983178108930588, 0.21247339248657227, 0.1291966438293457, 0.09461823850870132, 0.25630590319633484, 0.026095444336533546, 0.017059534788131714, 0.08571314811706543, 0.2421773076057434, 0.029165565967559814, 0.5743833184242249, 0.2007928192615509, 0.3168843388557434, 0.03185300901532173, 0.41466549038887024, 0.16036546230316162, 0.028829434886574745, 0.20965179800987244, 0.02460438944399357, 0.6086678504943848, 0.48553040623664856, 1.8021529513134737e-07, 1.3841666259395424e-05, 0.007021842058748007, 0.003901952877640724, 0.004832092206925154, 0.04295770078897476, 0.07083657383918762], "count": [1384]}, "observation.state.tcp_pose": {"min": [0.3616013824939728, 0.15455889701843262, 1.0374786853790283, -1.2088816165924072, 0.8999800086021423, -1.5406684875488281, 0.2776043117046356, -0.3122972548007965, 0.996301531791687, -0.2660745680332184, 1.1163545846939087, 0.19358091056346893], "max": [0.4374921917915344, 0.2578659653663635, 1.136274814605713, -0.32908493280410767, 1.2988594770431519, -1.2188326120376587, 0.45171675086021423, -0.06596376746892929, 1.2441030740737915, 1.2058382034301758, 2.0105128288269043, 1.5917938947677612], "mean": [0.4150436520576477, 0.18169604241847992, 1.0718188285827637, -0.5491350889205933, 1.1200238466262817, -1.2833385467529297, 0.38699379563331604, -0.18585562705993652, 1.1216144561767578, 0.4331309497356415, 1.5313133001327515, 0.8976225256919861], "std": [0.013407371006906033, 0.01693612150847912, 0.019811583682894707, 0.2317882776260376, 0.057025402784347534, 0.06874046474695206, 0.05691936984658241, 0.07301013916730881, 0.07703734189271927, 0.41518646478652954, 0.24242158234119415, 0.37689363956451416], "count": [1384]}, "action.tcp_pose": {"min": [0.35959845781326294, 0.15459929406642914, 1.0372726917266846, -1.208855390548706, 0.8973081111907959, -1.5414737462997437, 0.2780909836292267, -0.31295421719551086, 0.9966493844985962, -0.26563987135887146, 1.1177138090133667, 0.19386954605579376], "max": [0.43871355056762695, 0.25906112790107727, 1.137221336364746, -0.32812565565109253, 1.3001887798309326, -1.218698263168335, 0.45159852504730225, -0.06601370126008987, 1.2434841394424438, 1.207857370376587, 2.0104103088378906, 1.6089125871658325], "mean": [0.4150293469429016, 0.18173620104789734, 1.0718454122543335, -0.548759937286377, 1.1197317838668823, -1.283437728881836, 0.3869342803955078, -0.18611451983451843, 1.121666669845581, 0.43368035554885864, 1.531200647354126, 0.8971207737922668], "std": [0.013550342060625553, 0.01704537123441696, 0.019856929779052734, 0.2313237190246582, 0.057389236986637115, 0.0688314363360405, 0.05707462131977081, 0.07344826310873032, 0.07717116177082062, 0.41532009840011597, 0.2423444241285324, 0.3773200213909149], "count": [1384]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.4371387283237], "std": [6.953527147426909], "count": [1384]}, "observation.tactile": {"min": [-9.367073059082031, -0.010467529296875, -0.00152587890625, -0.2301187515258789, -0.021210670471191406, -0.1584608554840088, -0.16214942932128906, -0.000244140625, -0.0064697265625, -0.21087932586669922, -0.014371395111083984, -0.0007178783416748047, -0.5895309448242188, -0.013885498046875, -0.00335693359375, -0.1658639907836914, -0.017339706420898438, -0.011026144027709961, -0.022632598876953125, -0.020782470703125, -0.0072021484375, -0.004424095153808594, -0.002570629119873047, -0.0007708072662353516, -0.0096893310546875, -0.0039520263671875, -0.002685546875, -0.00017547607421875, -0.0008168220520019531, -0.00026404857635498047, -0.21872901916503906, -0.01483154296875, 0.0, -0.4029073715209961, -0.0386815071105957, -0.012581348419189453, -6.36822509765625, -0.0032958984375, -0.004638671875, -0.13474559783935547, -0.032375335693359375, -0.13126444816589355, -0.021718978881835938, -0.003570556640625, -0.00555419921875, -0.0004253387451171875, -0.0015397071838378906, -0.0005717277526855469, -0.014404296875, -0.001861572265625, -0.0201416015625, -0.00036144256591796875, -0.001293182373046875, -0.0005102157592773438, -0.018800735473632812, -0.009552001953125, -0.00616455078125, -0.0001506805419921875, -0.0010771751403808594, -0.0004885196685791016], "max": [0.08898162841796875, 7.259674072265625, 9.36309814453125, 0.0016994476318359375, 0.0035772323608398438, 0.0013530254364013672, 5.665853500366211, 6.387451171875, 15.006591796875, 0.0021104812622070312, 0.015184879302978516, 0.09302258491516113, 5.506660461425781, 3.996978759765625, 9.7373046875, 0.0019979476928710938, 0.0060214996337890625, 0.10855698585510254, 0.7511711120605469, 0.134033203125, 0.27105712890625, 0.000850677490234375, 0.004932880401611328, 0.006070852279663086, 0.02374267578125, 0.0062103271484375, 0.007080078125, 0.001026153564453125, 0.00010633468627929688, 9.441375732421875e-05, 6.633932113647461, 24.64129638671875, 19.9539794921875, 0.0026216506958007812, 0.0370631217956543, 0.11078596115112305, 0.98529052734375, 10.18011474609375, 7.755126953125, 0.004590034484863281, 0.005008697509765625, 0.021872758865356445, 0.024179458618164062, 0.019317626953125, 0.03643798828125, 0.0015316009521484375, 0.0006375312805175781, 1.430511474609375e-06, 0.030025482177734375, 0.0343017578125, 0.0625, 0.0010700225830078125, 0.00038623809814453125, 0.00019788742065429688, 0.011945724487304688, 0.005950927734375, 0.024810791015625, 0.001140594482421875, 0.00020503997802734375, 5.340576171875e-05], "mean": [-3.0159175395965576, 2.757514715194702, 2.519972324371338, -0.05439184606075287, -0.004033534321933985, -0.06793491542339325, 1.7526155710220337, 1.3473432064056396, 3.987208843231201, -0.05485628545284271, 0.0018643538933247328, 0.027180831879377365, 0.2649332582950592, 0.16521470248699188, 0.5707245469093323, -0.009906197898089886, 0.0005643042386509478, 0.004343778360635042, 0.01971970871090889, 0.0017089623725041747, 0.006058885715901852, 0.00014653887774329633, -0.0001949309662450105, 3.4488004985178122e-06, 0.006181200034916401, 0.0005146533949300647, 0.0012008138000965118, 0.0004577829677145928, -0.0003609746927395463, -9.153559221886098e-05, 1.3349779844284058, 2.631136894226074, 2.7450129985809326, -0.06343458592891693, -0.003496736055240035, 0.024275148287415504, -0.902809739112854, 1.0847073793411255, 1.5985963344573975, -0.031539805233478546, -0.002828167285770178, -0.017844289541244507, 0.008428329601883888, 0.003974804189056158, 0.0009832216892391443, 0.0008225069032050669, -0.0008362011285498738, -0.00031776545802131295, 0.005841927602887154, 0.009759549982845783, -0.009513193741440773, 0.00046280285459943116, -0.0005650072707794607, -0.00016611315368209034, 0.0023985267616808414, 0.001283546444028616, -0.00021099906007293612, 0.0005057119997218251, -0.00041520045488141477, -0.00019302386499475688], "std": [1.5993531942367554, 1.4345594644546509, 1.3858004808425903, 0.032271858304739, 0.0027871537022292614, 0.03435468301177025, 0.8835844993591309, 0.733659029006958, 1.9815853834152222, 0.028012974187731743, 0.002629333408549428, 0.014206216670572758, 0.5772771835327148, 0.37620067596435547, 0.9843865633010864, 0.016454244032502174, 0.0024264564272016287, 0.010787073522806168, 0.11194008588790894, 0.015029090456664562, 0.035331323742866516, 0.0005480246618390083, 0.0006362238200381398, 0.0010093932505697012, 0.0034788979683071375, 0.00149536004755646, 0.001199916354380548, 0.00014998648839537054, 0.0001168575618066825, 5.814202449982986e-05, 1.689286470413208, 3.78731632232666, 3.5998241901397705, 0.08386371284723282, 0.008085759356617928, 0.030193544924259186, 1.4758076667785645, 1.5782426595687866, 1.965407133102417, 0.03928316757082939, 0.00395151786506176, 0.03006959706544876, 0.004617112688720226, 0.002175156492739916, 0.002080896170809865, 0.00026291952235624194, 0.0002703110803849995, 8.861382229952142e-05, 0.004213595762848854, 0.005239760037511587, 0.003723068395629525, 0.00019760300347115844, 0.0002989758795592934, 0.0001200857586809434, 0.003363864030689001, 0.0010296986438333988, 0.0019234948558732867, 0.00022525244276039302, 0.0002141781005775556, 8.479016105411574e-05], "count": [1384]}, "timestamp": {"min": [0.0], "max": [46.1], "mean": [23.049999999999997], "std": [13.317542732968588], "count": [1384]}, "frame_index": {"min": [0], "max": [1383], "mean": [691.5], "std": [399.5262819890576], "count": [1384]}, "episode_index": {"min": [50], "max": [50], "mean": [50.0], "std": [0.0], "count": [1384]}, "index": {"min": [78569], "max": [79952], "mean": [79260.5], "std": [399.5262819890576], "count": [1384]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1384]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3407522439956665]], [[0.34012138843536377]], [[0.3400118350982666]]], "std": [[[0.21618498861789703]], [[0.21619589626789093]], [[0.2162240445613861]]], "count": [1384]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3024471700191498]], [[0.3040532171726227]], [[0.3014116585254669]]], "std": [[[0.16923685371875763]], [[0.17149509489536285]], [[0.17075879871845245]]], "count": [1384]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.310298889875412]], [[0.30833524465560913]], [[0.3055058419704437]]], "std": [[[0.17574991285800934]], [[0.17583268880844116]], [[0.17357434332370758]]], "count": [1384]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3385752737522125]], [[0.3379583954811096]], [[0.3379720449447632]]], "std": [[[0.21672599017620087]], [[0.21679694950580597]], [[0.21689637005329132]]], "count": [1384]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7568627595901489]], [[0.7568627595901489]], [[0.7568627595901489]]], "mean": [[[0.006490794476121664]], [[0.006490794476121664]], [[0.006490794476121664]]], "std": [[[0.052785035222768784]], [[0.052785035222768784]], [[0.052785035222768784]]], "count": [1384]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.9607843160629272]], [[0.9607843160629272]], [[0.9607843160629272]]], "mean": [[[0.47400587797164917]], [[0.47400587797164917]], [[0.47400587797164917]]], "std": [[[0.15288092195987701]], [[0.15288092195987701]], [[0.15288092195987701]]], "count": [1384]}}}
+{"episode_index": 51, "stats": {"observation.state": {"min": [0.9711123704910278, -0.7800156474113464, -7.909588930488098e-06, 1.0353190898895264, -0.7959673404693604, -0.7700145840644836, 0.3817926049232483, 0.007665944751352072, -0.2657814621925354, -0.2499348670244217, -0.3336261808872223, 0.0024557022843509912, 0.0032300520688295364, -0.00015405731392093003, 0.0031921295449137688, 0.0008438337245024741, 0.00397139135748148, -0.0007803444168530405, 0.0036711441352963448, 0.0007662347052246332, 0.0033615403808653355, 3.679702786030248e-05, 0.0030609413515776396, 0.0008540325216017663, 0.006154503673315048, 0.003240600461140275, 7.53114654798992e-05, 0.006589905358850956, 0.000863787776324898, 0.22902199625968933, -0.9702255129814148, 0.0008064184803515673, 1.2399334907531738, -1.791935682296753, -0.7694578170776367, -0.4618280529975891, 0.006393617484718561, -0.31951338052749634, -0.12042997777462006, -0.2580716609954834, 0.006872492376714945, 0.0031456639990210533, 5.127061376697384e-05, 0.0034899625461548567, 0.0008895063074305654, 0.0032852475997060537, -0.0012209276901558042, 0.003408412914723158, 0.0014717206358909607, 0.00672896858304739, -0.0036242720670998096, 0.003519036341458559, 0.000987502746284008, 0.010351339355111122, 0.003329649567604065, -0.0002759783819783479, 0.006796615663915873, 0.0008597970008850098, 0.5619163513183594, -1.107150673866272, 0.4869430363178253, -0.026557043194770813, 9.58738019107841e-05, -0.10507768392562866, -0.8476202487945557], "max": [1.1242865324020386, -0.4517880976200104, 0.257645845413208, 1.5700079202651978, 7.430219284287887e-06, -0.4492291510105133, 0.6184689998626709, 1.2276382446289062, -6.287561700446531e-05, 0.6732916831970215, -0.00244312034919858, 0.9990879893302917, 1.3575377464294434, 0.2338467240333557, 0.200252503156662, 0.08617303520441055, 1.386759638786316, 0.232209250330925, 0.03011869639158249, 0.10610710829496384, 1.169891357421875, 0.18407098948955536, 0.9256803393363953, 0.2536059617996216, 0.07922933250665665, 0.8915085196495056, 0.24832738935947418, 0.043294962495565414, 0.03820930793881416, 1.1109591722488403, -0.39665865898132324, 0.9245646595954895, 1.8375017642974854, -0.0008547148900106549, 0.1833743304014206, 0.5192432999610901, 1.3248884677886963, 0.0012360112741589546, 0.5350639820098877, 0.31273871660232544, 0.6259754300117493, 1.4666422605514526, 0.13398543000221252, 0.10814167559146881, 0.48884889483451843, 1.4667240381240845, 0.2109876424074173, 1.6533284187316895, 1.089176058769226, 1.4667690992355347, 0.2410721778869629, 1.6537635326385498, 0.8964595794677734, 0.12915359437465668, 1.4664497375488281, 0.20068441331386566, 1.653375267982483, 1.3080947399139404, 0.5629709362983704, -1.1066712141036987, 0.5439879298210144, 0.0, 0.022242721170186996, 0.046307045966386795, -0.5996906161308289], "mean": [1.0455772876739502, -0.5285670161247253, 0.08428496867418289, 1.1332207918167114, -0.6369471549987793, -0.6076386570930481, 0.5634188055992126, 1.148107886314392, -0.20084227621555328, 0.5484799146652222, -0.30815160274505615, 0.7233378887176514, 1.2891788482666016, 0.20770324766635895, 0.00784856453537941, 0.07993447780609131, 1.3091213703155518, 0.2013069987297058, 0.006945569533854723, 0.09007250517606735, 1.0594663619995117, 0.13157261908054352, 0.356860876083374, 0.21886751055717468, 0.06161213293671608, 0.8271171450614929, 0.15507721900939941, 0.027087919414043427, 0.02387903816998005, 0.8251950740814209, -0.6977622509002686, 0.5041617751121521, 1.4704694747924805, -1.2553735971450806, -0.2144641876220703, -0.1758304089307785, 1.2358362674713135, -0.239039808511734, 0.22405469417572021, -0.09375464916229248, 0.5485259294509888, 1.2153528928756714, 0.07979605346918106, 0.09817074239253998, 0.40687182545661926, 1.3883553743362427, 0.17204774916172028, 1.4011340141296387, 0.9904155731201172, 1.3136186599731445, 0.1594841182231903, 1.4504313468933105, 0.8238925933837891, 0.10529235005378723, 1.4237079620361328, 0.1338922083377838, 1.374200463294983, 1.0935996770858765, 0.5626831650733948, -1.1068476438522339, 0.4939790368080139, -0.018641917034983635, 0.018483329564332962, -0.02138151228427887, -0.7402969002723694], "std": [0.027750782668590546, 0.08548492193222046, 0.034183528274297714, 0.1159195601940155, 0.2102353870868683, 0.0524204820394516, 0.03429097309708595, 0.16174614429473877, 0.03141942620277405, 0.21076670289039612, 0.04211123660206795, 0.10799755156040192, 0.19800172746181488, 0.0408179946243763, 0.024895111098885536, 0.011350641027092934, 0.22370687127113342, 0.03173075616359711, 0.004202177748084068, 0.03290993347764015, 0.2461654096841812, 0.027674632146954536, 0.15730170905590057, 0.07031065225601196, 0.009580938145518303, 0.12681658565998077, 0.029452761635184288, 0.010513806715607643, 0.00962163507938385, 0.228085458278656, 0.14921170473098755, 0.17169694602489471, 0.17171166837215424, 0.461633563041687, 0.2212730199098587, 0.1766308844089508, 0.17212404310703278, 0.06378043442964554, 0.23210877180099487, 0.15667633712291718, 0.07762082666158676, 0.2329334169626236, 0.029528949409723282, 0.014833471737802029, 0.08240219950675964, 0.1970503032207489, 0.026243655011057854, 0.5554282069206238, 0.19583095610141754, 0.28690212965011597, 0.02934168092906475, 0.4646587073802948, 0.15105925500392914, 0.022975657135248184, 0.1706976443529129, 0.02645842730998993, 0.5851004719734192, 0.46286264061927795, 6.049868170521222e-05, 4.2422296246513724e-05, 0.009074104949831963, 0.006430941168218851, 0.0031664136331528425, 0.03523886203765869, 0.07672246545553207], "count": [1532]}, "observation.state.joint_torque": {"min": [-49.11750030517578, -9.791999816894531, -23.791000366210938, -10.350000381469727, -0.3407999873161316, -0.984000027179718, 0.6111999750137329, -1.0468395948410034, -0.5985579490661621, -0.9581136107444763, -0.9121341705322266, -0.4250255823135376, -0.4375156760215759, -1.0765190124511719, -0.18262816965579987, -0.046377696096897125, -0.5181106925010681, -0.34636661410331726, -0.08965382725000381, -0.022832093760371208, -0.5315431952476501, -0.8251392245292664, -0.1593845784664154, -0.032821137458086014, -0.07872439920902252, -0.4164074659347534, -0.5008403658866882, -0.09961536526679993, -0.027826614677906036, 12.457500457763672, -5.501999855041504, 3.684999942779541, -14.008999824523926, -2.0480000972747803, -2.3935999870300293, -3.014400005340576, -1.357580304145813, -0.9245809316635132, -0.5554822683334351, -0.8972218632698059, -0.1859486699104309, -0.5775974988937378, -1.2118033170700073, -0.10293588042259216, -0.026399608701467514, -0.5344215631484985, -0.393380343914032, -0.42668578028678894, -0.026399608701467514, -0.9786534905433655, -0.5344215631484985, -0.3785383999347687, -0.032821137458086014, -0.053215932101011276, -0.6610708236694336, -0.8165040612220764, -0.14776279032230377, -0.03496164828538895, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-6.238500118255615, 11.694000244140625, -0.43799999356269836, 2.068000078201294, 2.100800037384033, 1.841599941253662, 4.142399787902832, 2.492293119430542, 3.987414598464966, 2.2020459175109863, 1.7372798919677734, 0.47981399297714233, 1.8997392654418945, 0.6236517429351807, 0.2042115032672882, 0.18122975528240204, 0.5564892292022705, 0.7090440988540649, 0.06641025096178055, 0.019264578819274902, 0.7474226355552673, 0.19381177425384521, 0.13448072969913483, 0.02996712550520897, 0.12534332275390625, 0.3693937659263611, 0.5468946099281311, 0.08301279693841934, 0.014983562752604485, 40.087501525878906, 14.962499618530273, 22.5049991607666, 1.0549999475479126, 0.08959999680519104, 3.1328001022338867, 1.0368000268936157, 2.682048797607422, 3.818035364151001, 2.2567243576049805, 1.1035083532333374, 0.7554165124893188, 2.138645648956299, 0.5123538970947266, 1.0559228658676147, 0.21333740651607513, 0.43943461775779724, 0.3550017774105072, 0.12119869887828827, 0.021405089646577835, 0.6121382117271423, 0.8520042300224304, 0.13780125975608826, 0.028540121391415596, 0.4226488471031189, 0.4307994246482849, 0.44135355949401855, 0.21417304873466492, 0.03710215538740158, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-31.918447494506836, 0.5336270332336426, -14.062923431396484, -4.563112258911133, 0.21103817224502563, 0.8360307216644287, 1.6953800916671753, 0.863778829574585, 1.2276403903961182, 0.9619743824005127, 0.6604942679405212, 0.16637985408306122, 1.0231602191925049, -0.6218663454055786, -0.002803583163768053, 0.1272355169057846, 0.0144597627222538, 0.042957790195941925, -0.002517477609217167, -0.001142443041317165, 0.00040139711927622557, -0.045696668326854706, 0.007361702620983124, -0.0006063808687031269, 0.002269341377541423, 0.017199132591485977, 0.019750410690903664, 0.0013633195776492357, 0.0007577503565698862, 27.194284439086914, 4.363572597503662, 14.053582191467285, -7.563885688781738, -0.6788089275360107, 1.0965694189071655, -1.1069480180740356, 0.1301957666873932, 0.47232046723365784, 0.1792626678943634, 0.07463355362415314, 0.05015336722135544, 0.31936097145080566, -0.11054253578186035, 0.15446577966213226, 0.03748684003949165, 0.0009531769319437444, 0.002567752031609416, 0.0018780878745019436, 0.0006622734945267439, -0.014603630639612675, 0.035304803401231766, 0.001510704169049859, 3.331362685710104e-10, 0.07139906287193298, -0.02793463133275509, -0.0864068940281868, -0.0012484404724091291, -0.00020073121413588524, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.125666856765747, 1.698981761932373, 1.0750653743743896, 0.9426618218421936, 0.3494289219379425, 0.4570077657699585, 0.372760534286499, 0.9842004179954529, 0.8821299076080322, 0.6767748594284058, 0.5736530423164368, 0.12019526958465576, 0.5037615895271301, 0.4044225513935089, 0.022058099508285522, 0.05731648951768875, 0.10995295643806458, 0.12686645984649658, 0.008094950579106808, 0.006111640948802233, 0.13706843554973602, 0.14168669283390045, 0.022901268675923347, 0.007705489173531532, 0.014435197226703167, 0.08308600634336472, 0.07416947931051254, 0.013804138638079166, 0.007459552958607674, 4.511390686035156, 2.9038376808166504, 1.9630730152130127, 2.434346914291382, 0.28783145546913147, 0.7746739983558655, 0.719755232334137, 0.5264143943786621, 0.8788209557533264, 0.376442015171051, 0.280205637216568, 0.10473448783159256, 0.5454142689704895, 0.30124175548553467, 0.24933823943138123, 0.05566238984465599, 0.0836644172668457, 0.0665009617805481, 0.021643955260515213, 0.00585548160597682, 0.11815349012613297, 0.1508273184299469, 0.016696184873580933, 0.00746661564335227, 0.08955705910921097, 0.09407812356948853, 0.1779801994562149, 0.025080401450395584, 0.004389449954032898, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1532]}, "observation.state.tcp": {"min": [0.36154383420944214, 0.14253126084804535, 1.0432519912719727, -1.208912968635559, 0.9113484025001526, -1.434787392616272, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.26939353346824646, -0.31288856267929077, 0.9950403571128845, -0.2951613962650299, 1.013144850730896, 0.10036054253578186, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4291473925113678, 0.2645941376686096, 1.1407445669174194, -0.2682216763496399, 1.3032896518707275, -1.1671677827835083, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.44354182481765747, -0.07176157832145691, 1.2602111101150513, 1.208359956741333, 2.069664239883423, 1.5210691690444946, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.41163212060928345, 0.17211347818374634, 1.0832655429840088, -0.4863918721675873, 1.1224188804626465, -1.2277501821517944, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.37783294916152954, -0.18559904396533966, 1.1226794719696045, 0.3832005560398102, 1.569079041481018, 0.8441542387008667, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.011762198060750961, 0.02285037562251091, 0.01757391169667244, 0.24724504351615906, 0.056824926286935806, 0.06404311954975128, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0561361238360405, 0.06335010379552841, 0.07924861460924149, 0.48105689883232117, 0.2772570252418518, 0.41473010182380676, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1532]}, "action": {"min": [0.9710438847541809, -0.7799999713897705, 1.8302502222223404e-18, 1.03529953956604, -0.7959564328193665, -0.7699999809265137, 0.381817489862442, 0.0, -0.2636423707008362, -0.25396862626075745, -0.3490658402442932, 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, 0.22545067965984344, -0.9705309271812439, 0.001348169520497322, 1.2398014068603516, -1.7919087409973145, -0.7689242362976074, -0.46213412284851074, 0.0, -0.3490658402442932, -0.12258636206388474, -0.262204110622406, 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, 0.5626833438873291, -1.1069231033325195, 0.48660993576049805, -0.02689954824745655, -1.0589421445296664e-18, -0.10606607049703598, -0.8481870889663696], "max": [1.1243867874145508, -0.4517786502838135, 0.2577894330024719, 1.5700000524520874, -6.973969050216468e-19, -0.4487364888191223, 0.6187003254890442, 1.2293896675109863, 0.0, 0.6975021362304688, 0.0, 1.0042015314102173, 1.368996262550354, 0.23494115471839905, 0.20520316064357758, 0.08651647716760635, 1.3992944955825806, 0.23119544982910156, 0.03865895792841911, 0.10862486809492111, 1.1725059747695923, 0.18811506032943726, 0.9298174977302551, 0.25774720311164856, 0.09025557339191437, 0.9025556445121765, 0.24985772371292114, 0.04858881235122681, 0.04187764972448349, 1.110906720161438, -0.3966359794139862, 0.9269028902053833, 1.8377466201782227, -0.001976205036044121, 0.1833786964416504, 0.5182725191116333, 1.3320708274841309, 0.0, 0.5411479473114014, 0.3490658402442932, 0.6299867630004883, 1.5707963705062866, 0.142575204372406, 0.11644245684146881, 0.4911420941352844, 1.5707963705062866, 0.224384605884552, 1.7453292608261108, 1.0920984745025635, 1.5707963705062866, 0.24468058347702026, 1.7453292608261108, 0.9016928672790527, 0.1442708820104599, 1.5707963705062866, 0.20575612783432007, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.5442397594451904, 8.883138093140655e-19, 0.022951411083340645, 0.046565938740968704, -0.6000000238418579], "mean": [1.0456130504608154, -0.5285935997962952, 0.0842726081609726, 1.1333136558532715, -0.6369461417198181, -0.6076422929763794, 0.5636601448059082, 1.1494829654693604, -0.19420598447322845, 0.5558412671089172, -0.33952152729034424, 0.7288159132003784, 1.2976971864700317, 0.2065686583518982, 0.004172145389020443, 0.08250454813241959, 1.3144727945327759, 0.20414550602436066, 0.0025751269422471523, 0.09170732647180557, 1.0591181516647339, 0.13355664908885956, 0.3610045313835144, 0.22019265592098236, 0.08300080895423889, 0.8300092220306396, 0.15814831852912903, 0.0310481246560812, 0.02638309821486473, 0.8254339694976807, -0.6982318162918091, 0.5040355920791626, 1.4706320762634277, -1.2547980546951294, -0.21484024822711945, -0.17592354118824005, 1.2381573915481567, -0.24118614196777344, 0.2263418436050415, -0.09382619708776474, 0.5516026616096497, 1.2292048931121826, 0.07891573011875153, 0.10126616060733795, 0.4092629849910736, 1.4633551836013794, 0.17336532473564148, 1.4807227849960327, 0.9919188022613525, 1.388249397277832, 0.1588674783706665, 1.5276836156845093, 0.8256653547286987, 0.12117164582014084, 1.513598918914795, 0.13289858400821686, 1.4411852359771729, 1.1657265424728394, 0.5626831650733948, -1.1068490743637085, 0.49403834342956543, -0.018685027956962585, 0.01851915940642357, -0.02140149287879467, -0.7403339743614197], "std": [0.027754301205277443, 0.08552153408527374, 0.03425028920173645, 0.11610819399356842, 0.21027104556560516, 0.052462294697761536, 0.03374971076846123, 0.1738743931055069, 0.03300714120268822, 0.21646909415721893, 0.05211888998746872, 0.12259858101606369, 0.21066293120384216, 0.041496749967336655, 0.025846730917692184, 0.012705095112323761, 0.23447363078594208, 0.03513767570257187, 0.0063238912262022495, 0.033727023750543594, 0.248743936419487, 0.029450036585330963, 0.1667422354221344, 0.07111720740795135, 0.013600330799818039, 0.13600334525108337, 0.03250289335846901, 0.011204296723008156, 0.01005338691174984, 0.22898125648498535, 0.1495581567287445, 0.1718447357416153, 0.17181529104709625, 0.46192410588264465, 0.2215062826871872, 0.1767231822013855, 0.18593299388885498, 0.07371793687343597, 0.2322845160961151, 0.16060952842235565, 0.08751607686281204, 0.2558596730232239, 0.028512516990303993, 0.016716551035642624, 0.08753566443920135, 0.24232140183448792, 0.028520992025732994, 0.5876323580741882, 0.2039482593536377, 0.33287662267684937, 0.030791258439421654, 0.5011627674102783, 0.15697187185287476, 0.028953127562999725, 0.2115308791399002, 0.02807995118200779, 0.6159183979034424, 0.49444103240966797, 1.8008039148753596e-07, 1.693563535809517e-05, 0.009317607618868351, 0.006461676210165024, 0.003284656209871173, 0.035302236676216125, 0.07678831368684769], "count": [1532]}, "observation.state.tcp_pose": {"min": [0.36154383420944214, 0.14253126084804535, 1.0432519912719727, -1.208912968635559, 0.9113484025001526, -1.434787392616272, 0.26939353346824646, -0.31288856267929077, 0.9950403571128845, -0.2951613962650299, 1.013144850730896, 0.10036054253578186], "max": [0.4291473925113678, 0.2645941376686096, 1.1407445669174194, -0.2682216763496399, 1.3032896518707275, -1.1671677827835083, 0.44354182481765747, -0.07176157832145691, 1.2602111101150513, 1.208359956741333, 2.069664239883423, 1.5210691690444946], "mean": [0.41163212060928345, 0.17211347818374634, 1.0832655429840088, -0.4863918721675873, 1.1224188804626465, -1.2277501821517944, 0.37783294916152954, -0.18559904396533966, 1.1226794719696045, 0.3832005560398102, 1.569079041481018, 0.8441542387008667], "std": [0.011762198060750961, 0.02285037562251091, 0.01757391169667244, 0.24724504351615906, 0.056824926286935806, 0.06404311954975128, 0.0561361238360405, 0.06335010379552841, 0.07924861460924149, 0.48105689883232117, 0.2772570252418518, 0.41473010182380676], "count": [1532]}, "action.tcp_pose": {"min": [0.36011025309562683, 0.14250792562961578, 1.0432316064834595, -1.208855390548706, 0.910352885723114, -1.4353305101394653, 0.26958832144737244, -0.31214818358421326, 0.9951885342597961, -0.2949889898300171, 1.0147501230239868, 0.10011119395494461], "max": [0.4290713369846344, 0.2633788287639618, 1.1405985355377197, -0.2679913640022278, 1.3036739826202393, -1.1681019067764282, 0.4437136948108673, -0.07172393053770065, 1.2604376077651978, 1.2073485851287842, 2.069817304611206, 1.527921438217163], "mean": [0.41162917017936707, 0.17212191224098206, 1.0832678079605103, -0.4862635135650635, 1.1222552061080933, -1.2278916835784912, 0.37783774733543396, -0.18576489388942719, 1.1227974891662598, 0.38363611698150635, 1.5687586069107056, 0.843898355960846], "std": [0.011843834072351456, 0.022796645760536194, 0.017584513872861862, 0.2468288391828537, 0.0566934309899807, 0.06418690830469131, 0.056261323392391205, 0.06363695114850998, 0.07922592014074326, 0.48128756880760193, 0.2768264710903168, 0.4150174856185913], "count": [1532]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.273498694516972], "std": [6.850244609180892], "count": [1532]}, "observation.tactile": {"min": [-9.296581268310547, -0.01544189453125, -0.0006103515625, -0.3229207992553711, -0.04552936553955078, -0.18495535850524902, -0.043529510498046875, -0.003448486328125, -0.00091552734375, -0.2956361770629883, -0.010783195495605469, -0.0006260871887207031, -0.13685226440429688, -0.016632080078125, -0.0076904296875, -0.10552120208740234, -0.014810562133789062, -0.002264261245727539, -0.03769683837890625, -0.011993408203125, -0.0078125, -0.013484001159667969, -0.005319118499755859, -0.003938436508178711, -0.006893157958984375, -0.003814697265625, -0.00323486328125, -4.57763671875e-05, -0.0011138916015625, -0.00028896331787109375, -0.3009185791015625, -0.026153564453125, 0.0, -0.32109737396240234, -0.04774332046508789, -0.007876157760620117, -7.4894866943359375, -0.00946044921875, -0.07855224609375, -0.15577030181884766, -0.035556793212890625, -0.13186311721801758, -0.02603912353515625, -0.00592041015625, -0.00860595703125, -0.0004215240478515625, -0.0013241767883300781, -0.0006124973297119141, -0.022705078125, -0.00982666015625, -0.01141357421875, -0.0003757476806640625, -0.0011758804321289062, -0.0006225109100341797, -0.018398284912109375, -0.002960205078125, -0.00677490234375, -0.006768226623535156, -0.0013127326965332031, -0.0005974769592285156], "max": [0.043567657470703125, 13.06817626953125, 12.71417236328125, 0.0008640289306640625, 0.0016260147094726562, 0.0007669925689697266, 6.935321807861328, 8.73541259765625, 18.8902587890625, 0.0016422271728515625, 0.01717090606689453, 0.11323404312133789, 4.561267852783203, 4.146942138671875, 6.056884765625, 0.0018701553344726562, 0.0066089630126953125, 0.08218550682067871, 1.8212814331054688, 0.393768310546875, 0.80615234375, 0.0011386871337890625, 0.004763126373291016, 0.01869988441467285, 0.020832061767578125, 0.0088348388671875, 0.00445556640625, 0.0013980865478515625, 3.0517578125e-05, 0.000118255615234375, 7.1649017333984375, 14.164886474609375, 14.87652587890625, 0.0034875869750976562, 0.03376913070678711, 0.12269330024719238, 1.9441070556640625, 12.07806396484375, 8.10614013671875, 0.004008293151855469, 0.005199432373046875, 0.03998136520385742, 0.02968597412109375, 0.0252227783203125, 0.023529052734375, 0.001407623291015625, 0.0007290840148925781, 2.384185791015625e-05, 0.0259857177734375, 0.0045928955078125, 0.0108642578125, 0.00107574462890625, 0.00026226043701171875, 0.00010144710540771484, 0.6664009094238281, 0.17889404296875, 0.422119140625, 0.0013580322265625, 0.0015149116516113281, 0.013354778289794922], "mean": [-6.96133279800415, 8.97385311126709, 8.313589096069336, -0.20853714644908905, -0.025470521301031113, -0.13992810249328613, 4.376999855041504, 3.4665908813476562, 10.767464637756348, -0.1646178960800171, 0.005722027271986008, 0.06999808549880981, 0.19365012645721436, 0.20989607274532318, 0.19105476140975952, -0.0031136616598814726, -0.0009293225011788309, 0.0030861624982208014, 0.03282950446009636, 0.0054649971425533295, 0.01774214766919613, -0.00018783524865284562, -3.477611971902661e-05, 0.00013103520905133337, 0.005128391087055206, 0.0014833295717835426, 0.0003299563832115382, 0.000515085004735738, -0.00044115653145127, -0.00013220100663602352, 1.549639105796814, 3.261331558227539, 3.347766160964966, -0.07348418980836868, -0.0029640651773661375, 0.029563099145889282, -1.1352603435516357, 1.3325974941253662, 2.0510988235473633, -0.038618315011262894, -0.003865394741296768, -0.02083674632012844, 0.0054040937684476376, -0.0004626042500603944, -0.003630217397585511, 0.0005370443686842918, -0.0005292153218761086, -0.0003062780888285488, 0.007647336460649967, -0.0004139095835853368, -0.0002736223686952144, 0.0002987465704791248, -0.0005145745235495269, -0.00029899494256824255, 0.007996019907295704, 0.0006707393331453204, 0.00033402006374672055, 0.0006151448469609022, -0.0005156834959052503, -0.00020636871340684593], "std": [3.131669044494629, 4.075354099273682, 3.75215744972229, 0.09672804176807404, 0.01169098261743784, 0.06280157715082169, 1.861591100692749, 1.6519036293029785, 4.837887287139893, 0.07381099462509155, 0.005041682627052069, 0.029618054628372192, 0.5363306403160095, 0.47570961713790894, 0.635147213935852, 0.011358349584043026, 0.0018295153276994824, 0.009433966130018234, 0.1892874538898468, 0.0447603315114975, 0.09097466617822647, 0.0010579383233562112, 0.0006432704976759851, 0.0015541763277724385, 0.00289765652269125, 0.0014520720578730106, 0.0011009254958480597, 0.0001492259616497904, 0.00012284833064768463, 5.7399593060836196e-05, 1.968826413154602, 4.688358306884766, 4.630835056304932, 0.10384900122880936, 0.01039550919085741, 0.038027502596378326, 2.012770414352417, 2.1533055305480957, 2.7799794673919678, 0.05432272329926491, 0.006270543672144413, 0.037411607801914215, 0.008322268724441528, 0.0016931860009208322, 0.0019177603535354137, 0.00036384837585501373, 0.00038028330891393125, 0.00012277276255190372, 0.0056001232005655766, 0.0017594847595319152, 0.0031230230815708637, 0.0002745538658928126, 0.000300959509331733, 0.0001301415904890746, 0.03492595627903938, 0.0077528636902570724, 0.019863519817590714, 0.00037971153506077826, 0.0003185110108461231, 0.0007333364337682724], "count": [1532]}, "timestamp": {"min": [0.0], "max": [51.03333333333333], "mean": [25.516666666666666], "std": [14.741673732804035], "count": [1532]}, "frame_index": {"min": [0], "max": [1531], "mean": [765.5], "std": [442.25021198412105], "count": [1532]}, "episode_index": {"min": [51], "max": [51], "mean": [51.0], "std": [0.0], "count": [1532]}, "index": {"min": [79953], "max": [81484], "mean": [80718.5], "std": [442.25021198412105], "count": [1532]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1532]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34148600697517395]], [[0.34087562561035156]], [[0.340772807598114]]], "std": [[[0.21704627573490143]], [[0.21707193553447723]], [[0.21712486445903778]]], "count": [1532]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30257368087768555]], [[0.30452632904052734]], [[0.30215784907341003]]], "std": [[[0.16962362825870514]], [[0.171743243932724]], [[0.17098961770534515]]], "count": [1532]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30873167514801025]], [[0.30680587887763977]], [[0.30412301421165466]]], "std": [[[0.17407138645648956]], [[0.17414672672748566]], [[0.1720278114080429]]], "count": [1532]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.339488685131073]], [[0.33893099427223206]], [[0.338939368724823]]], "std": [[[0.21771909296512604]], [[0.2178441733121872]], [[0.2179415225982666]]], "count": [1532]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8196078538894653]], [[0.8196078538894653]], [[0.8196078538894653]]], "mean": [[[0.012059111148118973]], [[0.012059111148118973]], [[0.012059111148118973]]], "std": [[[0.07843532413244247]], [[0.07843532413244247]], [[0.07843532413244247]]], "count": [1532]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4731414020061493]], [[0.4731414020061493]], [[0.4731414020061493]]], "std": [[[0.15357010066509247]], [[0.15357010066509247]], [[0.15357010066509247]]], "count": [1532]}}}
+{"episode_index": 52, "stats": {"observation.state": {"min": [0.9905238747596741, -0.8074591755867004, -6.471481356129516e-06, 1.139780044555664, -0.8045031428337097, -0.770013153553009, 0.4506661891937256, 0.007317057810723782, -0.23287458717823029, -0.13331037759780884, -0.3176010847091675, 0.0022302004508674145, 0.0032150878105312586, -0.00017515425861347467, 0.0033534555695950985, 0.0008779773488640785, 0.0038636985700577497, -0.0006554795545525849, 0.003483225591480732, 0.0008597970008850098, 0.003336027730256319, -0.023621821776032448, 0.0030052748043090105, 0.0008589101489633322, 0.00585159519687295, 0.00326807564124465, 0.00010082419612444937, 0.0039001915138214827, 0.0008779773488640785, 0.32076495885849, -0.9851858615875244, 0.0003626426332630217, 1.2980149984359741, -1.8108018636703491, -0.7696936726570129, -0.4299902617931366, 0.006341582629829645, -0.3209839165210724, -0.13827767968177795, -0.31581616401672363, 0.006851927377283573, 0.006281760521233082, 6.329100870061666e-05, 0.003489607712253928, 0.0008699956815689802, 0.006328615825623274, -0.00012952588440384716, 0.003389975754544139, 0.0023523583076894283, 0.010166064836084843, 6.451739318436012e-05, 0.0034325229935348034, 0.0013222871348261833, 0.004909688141196966, 0.012496549636125565, 0.000334853888489306, 0.006810797844082117, 0.0008668916998431087, 0.5623956918716431, -1.1069588661193848, 0.49058622121810913, -0.010066748596727848, 0.0, -0.11859589070081711, -0.8666991591453552], "max": [1.1524266004562378, -0.5249729156494141, 0.23066648840904236, 1.5700029134750366, 0.03078315779566765, -0.45670968294143677, 0.6278009414672852, 1.2603296041488647, -5.077026071376167e-05, 0.5754668712615967, -0.002450128085911274, 1.0245640277862549, 1.298083782196045, 0.23358964920043945, 0.21976587176322937, 0.08701775223016739, 1.3707988262176514, 0.22303427755832672, 0.030088206753134727, 0.08239240199327469, 1.2790433168411255, 0.12347575277090073, 0.5143434405326843, 0.29058966040611267, 0.08473091572523117, 0.8949726819992065, 0.16965097188949585, 0.09292703121900558, 0.08370804041624069, 1.0499331951141357, -0.23751282691955566, 1.0348354578018188, 1.8660848140716553, -0.0005261074984446168, 0.2758413851261139, 0.5195627808570862, 1.292251706123352, 0.0013357452116906643, 0.6291776299476624, 0.3135417699813843, 0.6659024357795715, 1.4666389226913452, 0.13948558270931244, 0.10804416984319687, 0.4801298677921295, 1.4667648077011108, 0.1875205636024475, 1.653349757194519, 1.2201569080352783, 1.4669160842895508, 0.19355562329292297, 1.6537128686904907, 0.9195717573165894, 0.1387225091457367, 1.4667574167251587, 0.15895181894302368, 1.6534864902496338, 1.3080860376358032, 0.5629709362983704, -1.1066712141036987, 0.5441796779632568, 0.0, 0.022050973027944565, 0.0740145742893219, -0.5932670831680298], "mean": [1.0584841966629028, -0.5776122212409973, 0.07939194142818451, 1.2178672552108765, -0.6619096398353577, -0.6379218697547913, 0.5222768187522888, 1.1751279830932617, -0.19590753316879272, 0.4480964243412018, -0.3075748682022095, 0.7544724941253662, 1.2365511655807495, 0.19917099177837372, 0.1432386040687561, 0.08235865086317062, 1.2958862781524658, 0.19033372402191162, 0.004121656995266676, 0.0562097541987896, 1.2021862268447876, 0.09667407721281052, 0.04646977037191391, 0.26634490489959717, 0.06253865361213684, 0.8378296494483948, 0.12448239326477051, 0.06390444189310074, 0.05304376780986786, 0.8180769085884094, -0.7094683647155762, 0.4907393753528595, 1.4776934385299683, -1.2943123579025269, -0.2643689811229706, -0.10812901705503464, 1.2264347076416016, -0.23874373733997345, 0.25450846552848816, -0.12797591090202332, 0.5838924646377563, 1.2465828657150269, 0.07610256969928741, 0.09779243916273117, 0.43103304505348206, 1.417078971862793, 0.1556023210287094, 1.2779502868652344, 1.0734832286834717, 1.381885290145874, 0.13802149891853333, 1.434963583946228, 0.8249861001968384, 0.10998792201280594, 1.4245893955230713, 0.1078333705663681, 1.4128669500350952, 1.1197996139526367, 0.5626828074455261, -1.1068490743637085, 0.49742475152015686, -0.006386949215084314, 0.010704136453568935, -0.02695905789732933, -0.7417869567871094], "std": [0.03383966535329819, 0.057678140699863434, 0.036572787910699844, 0.08122338354587555, 0.21900953352451324, 0.046156127005815506, 0.022052600979804993, 0.15958677232265472, 0.029537012800574303, 0.17080695927143097, 0.04090277850627899, 0.11077097058296204, 0.1779671013355255, 0.04453079774975777, 0.053395386785268784, 0.011635825037956238, 0.21169474720954895, 0.03703247383236885, 0.002572542056441307, 0.01928434707224369, 0.21518051624298096, 0.02677919715642929, 0.08593752980232239, 0.05875005945563316, 0.010655896738171577, 0.1255660504102707, 0.024945596233010292, 0.02000335603952408, 0.018583204597234726, 0.23279012739658356, 0.1887548565864563, 0.2259574681520462, 0.149216428399086, 0.3952115774154663, 0.2406521886587143, 0.19854915142059326, 0.15705138444900513, 0.05569994077086449, 0.23052045702934265, 0.13580411672592163, 0.08325418829917908, 0.22201931476593018, 0.02834206633269787, 0.014188508503139019, 0.06180046871304512, 0.18444561958312988, 0.02240738831460476, 0.4886326789855957, 0.194289892911911, 0.23228801786899567, 0.02311687171459198, 0.5243196487426758, 0.14320294559001923, 0.02557254396378994, 0.16657836735248566, 0.025760309770703316, 0.5615612268447876, 0.4416939914226532, 4.834881110582501e-05, 3.5509692679625005e-05, 0.007019716314971447, 0.0025917033199220896, 0.003951720893383026, 0.04363221675157547, 0.0794953927397728], "count": [1514]}, "observation.state.joint_torque": {"min": [-41.40449905395508, -13.045499801635742, -23.285999298095703, -12.121999740600586, -0.2888000011444092, -1.3095999956130981, 0.6736000180244446, -1.2098511457443237, -0.7284576892852783, -0.8350874185562134, -0.8512424230575562, -0.42668578028678894, -0.4547860622406006, -0.8875044584274292, -0.26066020131111145, -0.046377696096897125, -0.5795164108276367, -0.33773142099380493, -0.061429474502801895, -0.027113113552331924, -0.6111786961555481, -0.9633020758628845, -0.19092944264411926, -0.025686107575893402, -0.09191843122243881, -0.40105605125427246, -0.35212334990501404, -0.11621791869401932, -0.026399608701467514, 10.508999824523926, -10.503000259399414, 2.4690001010894775, -14.970000267028809, -1.8240000009536743, -1.5471999645233154, -3.8959999084472656, -1.5804476737976074, -0.9092986583709717, -0.8487569689750671, -0.7617687582969666, -0.16104483604431152, -0.5238674879074097, -1.2146817445755005, -0.10791664570569992, -0.050658710300922394, -0.364596426486969, -0.38474515080451965, -0.21749354898929596, -0.01712406985461712, -0.7205576300621033, -0.619813859462738, -0.2025512456893921, -0.03068062849342823, -0.07432638853788376, -0.49892139434814453, -0.8126662373542786, -0.18926919996738434, -0.04709119349718094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-11.744999885559082, 14.052000045776367, -5.130000114440918, -0.07000000029802322, 1.490399956703186, 1.7799999713897705, 5.099999904632568, 1.4021538496017456, 1.8135031461715698, 1.7882301807403564, 1.441519856452942, 0.330390989780426, 1.1695868968963623, 0.5795164108276367, 0.7404741644859314, 0.10488493740558624, 0.6668276786804199, 1.0247077941894531, 0.0265640988945961, 0.011416046880185604, 0.6984899640083313, 0.2772851586341858, 0.0979551151394844, 0.025686107575893402, 0.11214928328990936, 0.38474515080451965, 0.25521746277809143, 0.12119869887828827, 0.022832093760371208, 53.06549835205078, 14.390999794006348, 31.25, -0.8220000267028809, -0.040800001472234726, 2.9872000217437744, 0.7936000227928162, 2.4579079151153564, 4.234478950500488, 1.6838443279266357, 1.4005111455917358, 0.5362627506256104, 2.1434431076049805, 0.49892139434814453, 1.0559228658676147, 0.21405088901519775, 0.42696160078048706, 0.42024531960487366, 0.3602755665779114, 0.03567514568567276, 0.406812846660614, 1.2118033170700073, 0.07139100879430771, 0.027826614677906036, 0.4908180236816406, 0.4144885241985321, 0.2820824980735779, 0.45657041668891907, 0.08990137279033661, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-31.305028915405273, 1.2643452882766724, -14.742992401123047, -4.424712657928467, 0.25637033581733704, 0.8901342749595642, 1.6625970602035522, -0.008968533016741276, 0.15571358799934387, 0.2563536465167999, 0.11837559938430786, 0.060171663761138916, 0.4072408676147461, -0.031174948439002037, 0.1930711567401886, 0.04193173348903656, 0.022397803142666817, 0.17790062725543976, -0.0010121630039066076, -0.0021112910471856594, -0.016272826120257378, -0.0902392789721489, -0.001866416190750897, 0.0013968425337225199, 0.0009478687425144017, 0.011776512488722801, 0.02741696685552597, -0.0018225515959784389, -0.0017173081869259477, 26.6378173828125, 4.0493059158325195, 13.770833969116211, -7.631316184997559, -0.6305571794509888, 1.1839723587036133, -1.0623376369476318, 0.05162842944264412, 0.5560314655303955, 0.1800413876771927, 0.12908120453357697, 0.04961797967553139, 0.3986879587173462, -0.16217422485351562, 0.18711639940738678, 0.044252660125494, 0.012383665889501572, -0.005824600346386433, 0.004721940495073795, 0.002611777978017926, 0.010918507352471352, 0.10685978829860687, 0.0012764460407197475, -0.00019322415755596012, 0.12226217985153198, -0.007286609150469303, -0.11113299429416656, 0.001586784957908094, 0.00020783043873962015, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.6860377788543701, 1.6510798931121826, 0.9237132668495178, 1.0941033363342285, 0.27059319615364075, 0.4558861255645752, 0.4338872730731964, 0.311354398727417, 0.3433125913143158, 0.44067537784576416, 0.2835310101509094, 0.0640457421541214, 0.28721317648887634, 0.20089691877365112, 0.14762431383132935, 0.025256486609578133, 0.1865103393793106, 0.20532119274139404, 0.005893615074455738, 0.004370066337287426, 0.1421225368976593, 0.15751664340496063, 0.015715474262833595, 0.006193759385496378, 0.010126445442438126, 0.09227766841650009, 0.06674311310052872, 0.01741340011358261, 0.007272672839462757, 4.05596923828125, 3.130408525466919, 2.6231882572174072, 2.957624912261963, 0.25902342796325684, 0.7036296725273132, 0.6951958537101746, 0.529184877872467, 0.9222951531410217, 0.37500694394111633, 0.34118354320526123, 0.08303899317979813, 0.6453779935836792, 0.36291301250457764, 0.31082770228385925, 0.06837242841720581, 0.07032828778028488, 0.06907833367586136, 0.042331963777542114, 0.005634005181491375, 0.13247817754745483, 0.20782768726348877, 0.013041425496339798, 0.007578318007290363, 0.11557093262672424, 0.08962161839008331, 0.1794842779636383, 0.0214198250323534, 0.004607406444847584, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1514]}, "observation.state.tcp": {"min": [0.3615562319755554, 0.13173039257526398, 1.0423930883407593, -1.2425034046173096, 0.9786540865898132, -1.4758996963500977, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2779381573200226, -0.3413551151752472, 0.9809638857841492, -0.38039645552635193, 0.6488393545150757, 0.14564388990402222, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4159548580646515, 0.24681483209133148, 1.1445374488830566, -0.24206677079200745, 1.3071608543395996, -1.1479934453964233, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4303273856639862, -0.08602108806371689, 1.2365249395370483, 1.208687424659729, 2.1946945190429688, 1.40936279296875, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.40520820021629333, 0.16976983845233917, 1.0948925018310547, -0.46288836002349854, 1.133535385131836, -1.214138150215149, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3720017075538635, -0.19898679852485657, 1.1153433322906494, 0.3552537262439728, 1.5118603706359863, 0.8350637555122375, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.00956854410469532, 0.018830157816410065, 0.02016947790980339, 0.25483882427215576, 0.052203159779310226, 0.06466992199420929, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0489303283393383, 0.0668523758649826, 0.0783604308962822, 0.42998984456062317, 0.3619531989097595, 0.3700866997241974, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1514]}, "action": {"min": [0.9904873371124268, -0.8075669407844543, -7.360501244680606e-18, 1.139688491821289, -0.8044893145561218, -0.7699999809265137, 0.4505140483379364, 0.0, -0.23574310541152954, -0.13775038719177246, -0.3490658402442932, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.024437256157398224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3207986354827881, -0.9858805537223816, 0.00116613763384521, 1.2979689836502075, -1.8107961416244507, -0.7686504125595093, -0.43013861775398254, 0.0, -0.3490658402442932, -0.1392684131860733, -0.32921987771987915, 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, 0.5626833438873291, -1.1069231033325195, 0.4904155433177948, -0.01026619877666235, -2.0436825691981462e-19, -0.11917778849601746, -0.866908609867096], "max": [1.1524206399917603, -0.5249266624450684, 0.2306615114212036, 1.5700000524520874, 0.03077596053481102, -0.4564046263694763, 0.627898633480072, 1.2588229179382324, 0.0, 0.5802292823791504, 0.0, 1.0313050746917725, 1.3029190301895142, 0.23279231786727905, 0.2322843223810196, 0.08927765488624573, 1.3752046823501587, 0.22324365377426147, 0.033895041793584824, 0.08510718494653702, 1.2818092107772827, 0.12953609228134155, 0.5239400267601013, 0.2932876944541931, 0.09000632911920547, 0.9000633358955383, 0.16846084594726562, 0.09999636560678482, 0.08559608459472656, 1.0497957468032837, -0.23748302459716797, 1.0355439186096191, 1.8661545515060425, -0.0018223210936412215, 0.27600571513175964, 0.5177866220474243, 1.295255184173584, 0.0, 0.6318445205688477, 0.3490658402442932, 0.6745679378509521, 1.5707963705062866, 0.13969892263412476, 0.11386175453662872, 0.48251381516456604, 1.5707963705062866, 0.1883067488670349, 1.7205599546432495, 1.224548101425171, 1.5707963705062866, 0.19885295629501343, 1.7453292608261108, 0.9231212139129639, 0.15056978166103363, 1.5707963705062866, 0.16433852910995483, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.5442397594451904, 1.0057238642339334e-19, 0.022502198815345764, 0.07497580349445343, -0.5929054021835327], "mean": [1.0585094690322876, -0.5776278376579285, 0.07938302308320999, 1.2180055379867554, -0.6622140407562256, -0.6379650831222534, 0.5223303437232971, 1.1772133111953735, -0.19228456914424896, 0.45375362038612366, -0.34068170189857483, 0.7590816020965576, 1.243613362312317, 0.19927075505256653, 0.14729635417461395, 0.08505623787641525, 1.298841953277588, 0.19513309001922607, 0.00031431729439646006, 0.056899067014455795, 1.2039355039596558, 0.10030457377433777, 0.04888995736837387, 0.26849254965782166, 0.08412989228963852, 0.8413015007972717, 0.12872284650802612, 0.06468405574560165, 0.05515254661440849, 0.8184266090393066, -0.7103695869445801, 0.49011775851249695, 1.4777004718780518, -1.2944207191467285, -0.2644643783569336, -0.10831525921821594, 1.227700114250183, -0.2418244183063507, 0.2556653916835785, -0.1279754787683487, 0.5864523649215698, 1.2605843544006348, 0.07398243248462677, 0.10095763206481934, 0.43419530987739563, 1.507530927658081, 0.15676498413085938, 1.280097484588623, 1.075510859489441, 1.4646623134613037, 0.13861919939517975, 1.5108152627944946, 0.8264728784561157, 0.12623700499534607, 1.5170319080352783, 0.10667087137699127, 1.4896817207336426, 1.1943247318267822, 0.5626831650733948, -1.1068493127822876, 0.4974791705608368, -0.006432191003113985, 0.010748463682830334, -0.026982774958014488, -0.7418316006660461], "std": [0.03387529402971268, 0.05776185169816017, 0.03660313040018082, 0.08152037113904953, 0.21881866455078125, 0.046202629804611206, 0.021987751126289368, 0.17349819839000702, 0.03191487863659859, 0.17208978533744812, 0.05174556002020836, 0.1280064582824707, 0.19376201927661896, 0.044937197118997574, 0.056076690554618835, 0.01308631245046854, 0.22269733250141144, 0.0402170829474926, 0.003160950029268861, 0.019926413893699646, 0.22423002123832703, 0.028427505865693092, 0.09353258460760117, 0.060607392340898514, 0.013571938499808311, 0.1357193887233734, 0.027999192476272583, 0.021469058468937874, 0.019163142889738083, 0.23302002251148224, 0.18894535303115845, 0.2260599434375763, 0.1493453085422516, 0.39532575011253357, 0.2406093031167984, 0.19840583205223083, 0.17333564162254333, 0.06770449876785278, 0.23141750693321228, 0.14167220890522003, 0.09402386844158173, 0.24373500049114227, 0.027186259627342224, 0.016102399677038193, 0.06950641423463821, 0.22410725057125092, 0.025276513770222664, 0.4877004325389862, 0.2030133605003357, 0.2712344825267792, 0.02555011212825775, 0.5604209303855896, 0.1499636173248291, 0.029329482465982437, 0.20694483816623688, 0.027360966429114342, 0.5925425887107849, 0.4723939001560211, 1.8000416446284362e-07, 1.6513944501639344e-05, 0.0072539993561804295, 0.0026128580793738365, 0.003991751465946436, 0.043695755302906036, 0.0795915350317955], "count": [1514]}, "observation.state.tcp_pose": {"min": [0.3615562319755554, 0.13173039257526398, 1.0423930883407593, -1.2425034046173096, 0.9786540865898132, -1.4758996963500977, 0.2779381573200226, -0.3413551151752472, 0.9809638857841492, -0.38039645552635193, 0.6488393545150757, 0.14564388990402222], "max": [0.4159548580646515, 0.24681483209133148, 1.1445374488830566, -0.24206677079200745, 1.3071608543395996, -1.1479934453964233, 0.4303273856639862, -0.08602108806371689, 1.2365249395370483, 1.208687424659729, 2.1946945190429688, 1.40936279296875], "mean": [0.40520820021629333, 0.16976983845233917, 1.0948925018310547, -0.46288836002349854, 1.133535385131836, -1.214138150215149, 0.3720017075538635, -0.19898679852485657, 1.1153433322906494, 0.3552537262439728, 1.5118603706359863, 0.8350637555122375], "std": [0.00956854410469532, 0.018830157816410065, 0.02016947790980339, 0.25483882427215576, 0.052203159779310226, 0.06466992199420929, 0.0489303283393383, 0.0668523758649826, 0.0783604308962822, 0.42998984456062317, 0.3619531989097595, 0.3700866997241974], "count": [1514]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.13176938891410828, 1.0423182249069214, -1.239819884300232, 0.9783241748809814, -1.476593017578125, 0.2778390944004059, -0.3388809561729431, 0.9807864427566528, -0.37880533933639526, 0.6465170979499817, 0.14566835761070251], "max": [0.4160071015357971, 0.24630729854106903, 1.1447378396987915, -0.242385596036911, 1.3074198961257935, -1.1480143070220947, 0.4305846393108368, -0.08576592057943344, 1.2365411520004272, 1.2081059217453003, 2.194566011428833, 1.4127402305603027], "mean": [0.40518707036972046, 0.1697547286748886, 1.0948938131332397, -0.46256953477859497, 1.133504867553711, -1.214176058769226, 0.37199336290359497, -0.19928881525993347, 1.1153390407562256, 0.3549094796180725, 1.5121618509292603, 0.8337954878807068], "std": [0.009659336879849434, 0.018766876310110092, 0.02022501267492771, 0.25463512539863586, 0.05203890800476074, 0.06471728533506393, 0.04898165538907051, 0.06719916313886642, 0.07833230495452881, 0.43026795983314514, 0.3614836037158966, 0.36982640624046326], "count": [1514]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.46565389696169], "std": [6.911724670048627], "count": [1514]}, "observation.tactile": {"min": [-9.01547622680664, -0.004302978515625, 0.0, -0.2674560546875, -0.017946243286132812, -0.1694498062133789, -0.03270149230957031, -0.0018310546875, -0.0050048828125, -0.21208477020263672, -0.013822078704833984, -0.0005545616149902344, -0.04685783386230469, -0.00732421875, -0.00860595703125, -0.0004482269287109375, -0.0014996528625488281, -0.0003211498260498047, -0.010074615478515625, -0.00921630859375, -0.00433349609375, -0.0006036758422851562, -0.0008149147033691406, -0.0005061626434326172, -0.0017337799072265625, -0.0034942626953125, -0.00238037109375, -0.0001697540283203125, -0.0009732246398925781, -0.0002837181091308594, -0.21181869506835938, -0.0201416015625, -0.00787353515625, -0.37506961822509766, -0.045476436614990234, -0.021648168563842773, -7.534709930419922, -0.007843017578125, 0.0, -0.22352886199951172, -0.024070262908935547, -0.12291097640991211, -0.029371261596679688, -0.007049560546875, -0.00775146484375, -9.1552734375e-05, -0.0013909339904785156, -0.0005753040313720703, -0.00439453125, -0.0157470703125, -0.009521484375, -0.012646675109863281, -0.0019941329956054688, -0.00041794776916503906, -0.017187118530273438, -0.006805419921875, -0.002685546875, -0.0003261566162109375, -0.0005946159362792969, -0.0003101825714111328], "max": [0.0034332275390625, 7.110931396484375, 12.39361572265625, 0.0005559921264648438, 0.010442733764648438, 0.0001418590545654297, 4.935102462768555, 7.266571044921875, 15.70281982421875, 0.001430511474609375, 0.009432315826416016, 0.07515716552734375, 0.0021305084228515625, 0.08599853515625, 0.002197265625, 0.0006046295166015625, 3.7670135498046875e-05, 0.0001544952392578125, 0.019649505615234375, 0.0040435791015625, 0.012451171875, 0.0004367828369140625, 0.0002884864807128906, 1.6689300537109375e-05, 0.08073616027832031, 0.0741424560546875, 0.00567626953125, 0.0011005401611328125, 9.5367431640625e-05, 0.001089334487915039, 6.512546539306641, 25.0318603515625, 19.18878173828125, 0.0016469955444335938, 0.025843143463134766, 0.12427163124084473, 1.5258369445800781, 10.9068603515625, 9.19158935546875, 0.0015201568603515625, 0.004795551300048828, 0.03379678726196289, 0.019823074340820312, 0.004119873046875, 0.00836181640625, 0.00153350830078125, 0.000240325927734375, 0.0, 0.6817359924316406, 0.37890625, 0.83905029296875, 0.0010585784912109375, 0.006737709045410156, 0.015115499496459961, 0.007932662963867188, 0.004302978515625, 0.0091552734375, 0.00054168701171875, 0.00024127960205078125, 5.221366882324219e-05], "mean": [-5.140867710113525, 4.291458606719971, 5.56568717956543, -0.10003061592578888, -0.0003051208332180977, -0.10532165318727493, 1.3525065183639526, 1.2070684432983398, 3.401583671569824, -0.042800262570381165, 0.0013694476801902056, 0.020065538585186005, -0.02303316816687584, -0.0027789438609033823, -0.0021629584953188896, 0.00022858829470351338, -0.0006490921950899065, -0.00018860146519728005, 0.0023706164211034775, -0.003996321000158787, 0.0007765655172988772, -8.071334741543978e-05, 3.6722129152622074e-05, -0.00012999537284485996, 0.004610748030245304, 0.0011076127411797643, 0.0013025401858612895, 0.00043657244532369077, -0.0004419102624524385, -0.0001277803094126284, 1.6651535034179688, 3.489990234375, 3.8111393451690674, -0.089699387550354, -0.004057897720485926, 0.03537355363368988, -1.1880335807800293, 1.621889352798462, 1.9444793462753296, -0.03959902748465538, -0.004188114777207375, -0.021834874525666237, 0.004320276901125908, -0.0009546116343699396, -0.0006471984088420868, 0.0006003259913995862, -0.0004653474024962634, -0.0002830115263350308, 0.029246607795357704, 0.010675004683434963, 0.026580125093460083, -0.0001360674068564549, -0.00022561090008821338, 0.00015399100084323436, -1.137480194302043e-05, 0.0003196081379428506, 0.002154331421479583, 5.249995956546627e-05, -2.432782821415458e-05, -8.646350761409849e-05], "std": [2.4334206581115723, 1.992406964302063, 2.639147996902466, 0.04950850084424019, 0.003197540296241641, 0.05027244985103607, 0.7948978543281555, 0.8389006853103638, 2.009871482849121, 0.0266395416110754, 0.003023956436663866, 0.012961279600858688, 0.008290302939713001, 0.003068190533667803, 0.0012414853554219007, 0.00015549206000287086, 0.0002143124002031982, 6.219546048669145e-05, 0.0030758571811020374, 0.0017670246306806803, 0.0015806338051334023, 0.00012989947572350502, 0.00013171600585337728, 5.9410991525510326e-05, 0.0034270556643605232, 0.0023234663531184196, 0.0011858586221933365, 0.00015867945330683142, 0.00014080846449360251, 6.128435052232817e-05, 1.8567153215408325, 4.915006637573242, 5.06942081451416, 0.11891019344329834, 0.010427992790937424, 0.041069865226745605, 1.845313549041748, 2.108572006225586, 2.5553276538848877, 0.055767722427845, 0.00495064677670598, 0.03460729494690895, 0.005655066110193729, 0.0012029351200908422, 0.0019752662628889084, 0.0003020798903889954, 0.00031662252149544656, 0.00012394269288051873, 0.06967459619045258, 0.04409388452768326, 0.08918128907680511, 0.0016760803991928697, 0.000602558022364974, 0.0014259350718930364, 0.003206774592399597, 0.0011419198708608747, 0.0018583191558718681, 0.00013548179413191974, 0.00011903433914994821, 4.7010311391204596e-05], "count": [1514]}, "timestamp": {"min": [0.0], "max": [50.43333333333333], "mean": [25.216666666666665], "std": [14.568468614709571], "count": [1514]}, "frame_index": {"min": [0], "max": [1513], "mean": [756.5], "std": [437.0540584412871], "count": [1514]}, "episode_index": {"min": [52], "max": [52], "mean": [52.0], "std": [0.0], "count": [1514]}, "index": {"min": [81485], "max": [82998], "mean": [82241.5], "std": [437.0540584412871], "count": [1514]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1514]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3442431390285492]], [[0.3436150550842285]], [[0.3434838652610779]]], "std": [[[0.21994397044181824]], [[0.2199583351612091]], [[0.21992790699005127]]], "count": [1514]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.302101731300354]], [[0.3041839897632599]], [[0.30203232169151306]]], "std": [[[0.16945786774158478]], [[0.17159534990787506]], [[0.17084023356437683]]], "count": [1514]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3089931011199951]], [[0.30704185366630554]], [[0.3041810989379883]]], "std": [[[0.17394845187664032]], [[0.17392754554748535]], [[0.17178241908550262]]], "count": [1514]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3443623185157776]], [[0.34376928210258484]], [[0.34375208616256714]]], "std": [[[0.22159604728221893]], [[0.22167718410491943]], [[0.2216976135969162]]], "count": [1514]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7607843279838562]], [[0.7607843279838562]], [[0.7607843279838562]]], "mean": [[[0.007873691618442535]], [[0.007873691618442535]], [[0.007873691618442535]]], "std": [[[0.06086716428399086]], [[0.06086716428399086]], [[0.06086716428399086]]], "count": [1514]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.9921568632125854]], [[0.9921568632125854]], [[0.9921568632125854]]], "mean": [[[0.4736224114894867]], [[0.4736224114894867]], [[0.4736224114894867]]], "std": [[[0.15253235399723053]], [[0.15253235399723053]], [[0.15253235399723053]]], "count": [1514]}}}
+{"episode_index": 53, "stats": {"observation.state": {"min": [0.9865583181381226, -0.7800067067146301, -8.868326403899118e-06, 1.1375359296798706, -0.8689355254173279, -0.770010769367218, 0.3165104389190674, 0.007636133581399918, -0.24362055957317352, -0.0028916283044964075, -0.32407698035240173, 0.00255994382314384, 0.0032290706876665354, -0.00014890577585902065, 0.003406994743272662, 0.0008247665828093886, 0.0039399913512170315, -0.0007607194711454213, 0.0036480973940342665, 0.0008513719658367336, 0.0033328388817608356, -0.0033970775548368692, 0.00311625306494534, 0.00085270224371925, 0.006015358027070761, 0.003250658279284835, 0.00012339297973085195, 0.0028524582739919424, 0.0008495982619933784, 0.5059152245521545, -1.028178334236145, 0.00029529130551964045, 1.224479079246521, -1.8161826133728027, -0.7697580456733704, -0.4067635238170624, 0.00636181840673089, -0.32100215554237366, -0.1408185362815857, -0.31599342823028564, 0.00689660245552659, 0.006375225260853767, -0.001638453220948577, 0.0034881895408034325, 0.0008708825334906578, 0.003284757025539875, -0.0010126567212864757, 0.003404158167541027, 0.0010597807122394443, 0.005020845681428909, -0.0012160221813246608, 0.003525418695062399, 0.0008544759475626051, 0.004916110076010227, 0.003342896467074752, -0.00048081568093039095, 0.00679094297811389, 0.0008655614801682532, 0.5624915957450867, -1.1069588661193848, 0.481478214263916, -0.021283984184265137, 0.0, -0.08532768487930298, -0.8729309439659119], "max": [1.1248157024383545, -0.4833676517009735, 0.18358322978019714, 1.5700079202651978, 1.2823121323890518e-05, -0.38007107377052307, 0.6037617921829224, 1.2472805976867676, 0.0005781669169664383, 0.7160515189170837, -0.0024376276414841413, 1.0282365083694458, 1.2599824666976929, 0.22147901356220245, 0.2196073830127716, 0.08662798255681992, 1.3585010766983032, 0.23645345866680145, 0.0037587210536003113, 0.05005668103694916, 1.2361279726028442, 0.14814914762973785, 0.003166246460750699, 0.27208206057548523, 0.07047602534294128, 0.9092209339141846, 0.19463936984539032, 0.03497160226106644, 0.03156018257141113, 1.0666394233703613, -0.42698395252227783, 1.0015311241149902, 1.7989530563354492, -0.0004510862345341593, 0.15778370201587677, 0.5196442604064941, 1.3234347105026245, 0.0012515499256551266, 0.51206374168396, 0.3133629858493805, 0.6421878337860107, 1.4665406942367554, 0.11084789782762527, 0.10886427015066147, 0.4848882555961609, 1.4666494131088257, 0.21447482705116272, 1.653362512588501, 1.2895807027816772, 1.4668066501617432, 0.23373587429523468, 1.653684377670288, 0.9474368691444397, 0.1378897875547409, 1.4667251110076904, 0.19308534264564514, 1.6534113883972168, 1.3081272840499878, 0.5629709362983704, -1.1066712141036987, 0.5441796779632568, 0.0, 0.02665291540324688, 0.05301821231842041, -0.5810911059379578], "mean": [1.0642797946929932, -0.5508360862731934, 0.08341614156961441, 1.2128748893737793, -0.6529515385627747, -0.6198150515556335, 0.47039178013801575, 1.1686427593231201, -0.20350028574466705, 0.5669941306114197, -0.3075316548347473, 0.768671452999115, 1.2015273571014404, 0.19158194959163666, 0.15364839136600494, 0.08013326674699783, 1.2830860614776611, 0.18265676498413086, 0.0036815605126321316, 0.039232492446899414, 1.1680264472961426, 0.0889439731836319, 0.003140749642625451, 0.2507399022579193, 0.06493505090475082, 0.8463846445083618, 0.12387548387050629, 0.022455167025327682, 0.019430747255682945, 0.8509045243263245, -0.7293354868888855, 0.4864819049835205, 1.4801957607269287, -1.2191624641418457, -0.19800876080989838, -0.13338811695575714, 1.2355999946594238, -0.23138922452926636, 0.22372831404209137, -0.11171325296163559, 0.5680477619171143, 1.2262108325958252, 0.07134141772985458, 0.09815896302461624, 0.4072369635105133, 1.4087721109390259, 0.16181713342666626, 1.3188713788986206, 1.1582393646240234, 1.375986099243164, 0.13855943083763123, 1.4288047552108765, 0.8659237027168274, 0.11150433868169785, 1.416157603263855, 0.11716927587985992, 1.4142051935195923, 1.1210330724716187, 0.5626828074455261, -1.1068484783172607, 0.490455687046051, -0.015267571434378624, 0.01957963965833187, -0.035203080624341965, -0.7457115054130554], "std": [0.028484618291258812, 0.06944309920072556, 0.028349241241812706, 0.07843417674303055, 0.25263044238090515, 0.07579255104064941, 0.028428940102458, 0.16329097747802734, 0.03195052593946457, 0.20703114569187164, 0.04239174351096153, 0.11711055040359497, 0.17045459151268005, 0.03795155510306358, 0.05471636354923248, 0.011443457566201687, 0.20857807993888855, 0.03481614217162132, 1.8304153854842298e-05, 0.014692381955683231, 0.19032683968544006, 0.02758505381643772, 7.120324880816042e-06, 0.04762904718518257, 0.009439721703529358, 0.12946833670139313, 0.030615583062171936, 0.011590204201638699, 0.011566335335373878, 0.16334736347198486, 0.1465904712677002, 0.19290003180503845, 0.14879851043224335, 0.45680639147758484, 0.22167566418647766, 0.16600263118743896, 0.16895654797554016, 0.059482160955667496, 0.21417401731014252, 0.16902008652687073, 0.0804295688867569, 0.224530428647995, 0.022679833695292473, 0.014913502149283886, 0.07815245538949966, 0.1956097036600113, 0.02693791873753071, 0.5223850607872009, 0.22804099321365356, 0.24655531346797943, 0.030463168397545815, 0.5312910079956055, 0.15289615094661713, 0.026937156915664673, 0.1825226992368698, 0.039103854447603226, 0.5587602853775024, 0.43938615918159485, 4.4400043407222256e-05, 3.2460571674164385e-05, 0.009029115550220013, 0.005426144227385521, 0.005261132959276438, 0.030811361968517303, 0.08654320240020752], "count": [1492]}, "observation.state.joint_torque": {"min": [-49.21799850463867, -12.124500274658203, -26.4689998626709, -15.218999862670898, -0.15360000729560852, -1.9016000032424927, 0.0575999990105629, -1.6848769187927246, -0.9933514595031738, -0.8748534321784973, -0.940716028213501, -0.41174352169036865, -0.3502044379711151, -1.0295051336288452, -0.24239739775657654, -0.046377696096897125, -0.5449756979942322, -0.40873175859451294, -0.004980768077075481, -0.020691584795713425, -0.8021121621131897, -1.576399803161621, -0.0016602561809122562, -0.025686107575893402, -0.07432638853788376, -0.3665153384208679, -0.3118259012699127, -0.09961536526679993, -0.027826614677906036, 7.4070000648498535, -6.21150016784668, 2.4200000762939453, -12.519000053405762, -1.8384000062942505, -1.432800054550171, -4.139999866485596, -1.1347129344940186, -1.0226424932479858, -1.3694440126419067, -0.7418856620788574, -0.13116022944450378, -0.5027592778205872, -1.2674522399902344, -0.07471152395009995, -0.027826614677906036, -0.32813677191734314, -0.36843428015708923, -0.7305126786231995, -0.02996712550520897, -0.41256964206695557, -0.5804758667945862, -0.3785383999347687, -0.033534638583660126, -0.07960399985313416, -0.4096912145614624, -0.7435848116874695, -0.3619358241558075, -0.0699232965707779, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-1.0709999799728394, 22.927499771118164, 1.5080000162124634, 6.7220001220703125, 2.15120005607605, 1.8631999492645264, 6.622399806976318, 2.106414556503296, 2.93802809715271, 1.7869876623153687, 1.5396922826766968, 0.3635960817337036, 1.8872661590576172, 0.6035029888153076, 1.0559228658676147, 0.20905636250972748, 0.6658681035041809, 0.864477276802063, 0.0016602561809122562, 0.05922074615955353, 0.6303679943084717, 0.12281142920255661, -0.0, 0.02425910159945488, 0.13062092661857605, 0.43943461775779724, 0.38666409254074097, 0.08965382725000381, 0.020691584795713425, 54.308998107910156, 13.969499588012695, 32.18199920654297, -0.18199999630451202, 0.14560000598430634, 2.970400094985962, 0.7688000202178955, 2.4630019664764404, 4.79228401184082, 1.8714905977249146, 1.1333328485488892, 0.5678075551986694, 2.141524076461792, 0.8404906988143921, 1.0559228658676147, 0.21476440131664276, 0.5027592182159424, 0.31662318110466003, 0.29552558064460754, 0.027826614677906036, 0.4432724714279175, 0.7387874722480774, 0.39348068833351135, 0.02425910159945488, 0.4714667797088623, 0.357880175113678, 0.3521233797073364, 0.2656410038471222, 0.04780469834804535, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-31.773929595947266, 0.4815855324268341, -14.866670608520508, -4.663326263427734, 0.3291407823562622, 0.8689790964126587, 1.7294604778289795, 0.4384230971336365, 0.9496645927429199, 0.5635566711425781, 0.4132291078567505, 0.1020967960357666, 0.7445909380912781, -0.23513388633728027, 0.3902650773525238, 0.1156487837433815, 0.09098253399133682, 0.1676342487335205, -1.1127718835268752e-06, 0.016778821125626564, -0.006256468594074249, -0.14912183582782745, -1.1127722245873883e-06, -0.0009191370336338878, 0.0034898160956799984, 0.01908646523952484, 0.025342227891087532, 0.0030089369975030422, -0.0007661075796931982, 27.072784423828125, 4.5800981521606445, 14.26279354095459, -7.073217391967773, -0.641122579574585, 1.090439796447754, -1.0814305543899536, 0.17798307538032532, 0.5636951923370361, 0.19863538444042206, 0.0638652816414833, 0.05135888606309891, 0.38356974720954895, -0.13732054829597473, 0.18519218266010284, 0.044363945722579956, 0.01698034629225731, 0.0051786391995847225, 0.0031224319245666265, 0.0014882226241752505, 0.00637543061748147, 0.06272529065608978, 0.0008757522446103394, 0.0005843857652507722, 0.07466530799865723, 0.0023157037794589996, -0.05986303836107254, 0.002439198549836874, 0.0003400135028641671, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.2233998775482178, 1.9553701877593994, 1.2408381700515747, 1.3591784238815308, 0.3036215305328369, 0.5151399970054626, 0.5938925743103027, 0.7300266027450562, 0.8296780586242676, 0.5619089007377625, 0.4220086634159088, 0.08901983499526978, 0.43530741333961487, 0.32247164845466614, 0.25841647386550903, 0.05942116305232048, 0.19880257546901703, 0.18671062588691711, 0.00020613193919416517, 0.014504474587738514, 0.17699213325977325, 0.2740468978881836, 4.296781116863713e-05, 0.006474893074482679, 0.01516154408454895, 0.08914580196142197, 0.0690411701798439, 0.010936145670711994, 0.008363764733076096, 3.796640157699585, 2.5853021144866943, 2.1603477001190186, 2.2123098373413086, 0.2772950828075409, 0.690970778465271, 0.7330028414726257, 0.5939044952392578, 1.0450961589813232, 0.3875870108604431, 0.2789570689201355, 0.09972454607486725, 0.6026672720909119, 0.2955707907676697, 0.29136455059051514, 0.06547203660011292, 0.07053593546152115, 0.05310843512415886, 0.043668825179338455, 0.006313034798949957, 0.0961189791560173, 0.1770368367433548, 0.020156558603048325, 0.007979282177984715, 0.0914469063282013, 0.07081122696399689, 0.15386617183685303, 0.019937710836529732, 0.004610945004969835, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1492]}, "observation.state.tcp": {"min": [0.36153802275657654, 0.13801227509975433, 1.0399985313415527, -1.291177749633789, 1.0362135171890259, -1.5049962997436523, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.28936606645584106, -0.323568731546402, 1.0093634128570557, -0.26583030819892883, 1.0052106380462646, 0.10263688117265701, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.41909754276275635, 0.26483994722366333, 1.1457175016403198, -0.239202618598938, 1.3777679204940796, -1.138883113861084, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.43899983167648315, -0.08763731271028519, 1.2692359685897827, 1.2086944580078125, 2.0884296894073486, 1.6743276119232178, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.4043426811695099, 0.16271303594112396, 1.0982246398925781, -0.5114173293113708, 1.1515040397644043, -1.2266952991485596, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3775250315666199, -0.19543439149856567, 1.1289159059524536, 0.36175552010536194, 1.5676922798156738, 0.8763823509216309, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.00799743551760912, 0.025278989225625992, 0.02341865748167038, 0.28446733951568604, 0.06564851105213165, 0.07312686741352081, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04639860615134239, 0.059792108833789825, 0.08048076927661896, 0.45064711570739746, 0.30122867226600647, 0.42155006527900696, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1492]}, "action": {"min": [0.986465334892273, -0.7799999713897705, -6.392652365108342e-19, 1.1374305486679077, -0.8689175248146057, -0.7699999809265137, 0.3165264129638672, 0.0, -0.23957782983779907, 0.0, -0.3490658402442932, 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, 0.5059337615966797, -1.0279074907302856, 0.0009978276211768389, 1.2244278192520142, -1.8161650896072388, -0.7685955166816711, -0.4067949056625366, 0.0, -0.3490658402442932, -0.14502082765102386, -0.3277818560600281, 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, 0.5626833438873291, -1.1069231033325195, 0.48119428753852844, -0.021608898416161537, -1.189983373387281e-18, -0.08589470386505127, -0.8726646304130554], "max": [1.1247798204421997, -0.483292818069458, 0.18360112607479095, 1.5700000524520874, 8.875509006351078e-18, -0.3799594044685364, 0.6038588285446167, 1.2526869773864746, 0.0, 0.7274531126022339, 0.0, 1.0397419929504395, 1.2690598964691162, 0.22387593984603882, 0.2281624972820282, 0.08824224770069122, 1.3649405241012573, 0.23403877019882202, 0.0, 0.05262491852045059, 1.245177149772644, 0.14545124769210815, 0.0, 0.2745155990123749, 0.09177038818597794, 0.9177038073539734, 0.1931004524230957, 0.04214607551693916, 0.03635530546307564, 1.0666123628616333, -0.4270380139350891, 1.0017048120498657, 1.799108862876892, -0.00175925949588418, 0.15795832872390747, 0.5178611874580383, 1.3228669166564941, 0.0, 0.5168918967247009, 0.3490658402442932, 0.6498324871063232, 1.5686203241348267, 0.1141006276011467, 0.1158205196261406, 0.48953133821487427, 1.5707963705062866, 0.21515125036239624, 1.7453292608261108, 1.2925705909729004, 1.5707963705062866, 0.23423045873641968, 1.7453292608261108, 0.9510204792022705, 0.1474538892507553, 1.5707963705062866, 0.1994280219078064, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.5442397594451904, 1.704845221112903e-19, 0.02703934721648693, 0.05356811732053757, -0.5799490213394165], "mean": [1.0642927885055542, -0.5508521199226379, 0.08341855555772781, 1.2129734754562378, -0.6529485583305359, -0.6198418140411377, 0.47064271569252014, 1.1702545881271362, -0.19747376441955566, 0.5727211236953735, -0.34043994545936584, 0.7730631232261658, 1.2080825567245483, 0.19114285707473755, 0.15780691802501678, 0.08431748300790787, 1.2852247953414917, 0.18671028316020966, 0.0, 0.042169053107500076, 1.1696611642837524, 0.0889984592795372, 0.0, 0.2518932819366455, 0.08506345003843307, 0.850635826587677, 0.12474633753299713, 0.0265001580119133, 0.02125774510204792, 0.851445734500885, -0.7297602891921997, 0.4862525761127472, 1.480364203453064, -1.2176799774169922, -0.1981915980577469, -0.13335420191287994, 1.2364941835403442, -0.23463885486125946, 0.22613686323165894, -0.1122908890247345, 0.5704132318496704, 1.2382287979125977, 0.07021760195493698, 0.10123394429683685, 0.4099713861942291, 1.500986099243164, 0.1640314906835556, 1.325732707977295, 1.1599482297897339, 1.46485435962677, 0.1384197324514389, 1.5054831504821777, 0.8677340149879456, 0.12755733728408813, 1.5073717832565308, 0.11789947003126144, 1.4908446073532104, 1.1955416202545166, 0.5626831650733948, -1.106850028038025, 0.49050870537757874, -0.015317294746637344, 0.019618717953562737, -0.035229116678237915, -0.7457488775253296], "std": [0.028490791097283363, 0.06948533654212952, 0.028388945385813713, 0.07865909487009048, 0.25271284580230713, 0.07578615844249725, 0.02809038572013378, 0.1791166514158249, 0.03382375091314316, 0.20914161205291748, 0.05355449393391609, 0.13501393795013428, 0.1883004754781723, 0.03961346670985222, 0.05715717375278473, 0.013300937600433826, 0.21986614167690277, 0.0384301096200943, 0.0, 0.016333473846316338, 0.20279233157634735, 0.02856260910630226, 0.0, 0.0490652360022068, 0.014160663820803165, 0.14160659909248352, 0.03260815143585205, 0.012834724970161915, 0.013088925741612911, 0.1634731888771057, 0.14703898131847382, 0.19318783283233643, 0.14901255071163177, 0.4572850167751312, 0.22165153920650482, 0.16614624857902527, 0.18748264014720917, 0.07204394042491913, 0.2149590402841568, 0.1732843667268753, 0.09206242114305496, 0.24631787836551666, 0.022985415533185005, 0.016869019716978073, 0.08415380120277405, 0.23596160113811493, 0.02984478883445263, 0.5253263711929321, 0.23478195071220398, 0.28854694962501526, 0.03265296295285225, 0.5652380585670471, 0.1599777191877365, 0.030935464426875114, 0.22436636686325073, 0.0400959849357605, 0.589821994304657, 0.47018328309059143, 1.8006794277880545e-07, 1.608475940884091e-05, 0.009227694943547249, 0.00545027619227767, 0.005324983969330788, 0.030885808169841766, 0.08663751929998398], "count": [1492]}, "observation.state.tcp_pose": {"min": [0.36153802275657654, 0.13801227509975433, 1.0399985313415527, -1.291177749633789, 1.0362135171890259, -1.5049962997436523, 0.28936606645584106, -0.323568731546402, 1.0093634128570557, -0.26583030819892883, 1.0052106380462646, 0.10263688117265701], "max": [0.41909754276275635, 0.26483994722366333, 1.1457175016403198, -0.239202618598938, 1.3777679204940796, -1.138883113861084, 0.43899983167648315, -0.08763731271028519, 1.2692359685897827, 1.2086944580078125, 2.0884296894073486, 1.6743276119232178], "mean": [0.4043426811695099, 0.16271303594112396, 1.0982246398925781, -0.5114173293113708, 1.1515040397644043, -1.2266952991485596, 0.3775250315666199, -0.19543439149856567, 1.1289159059524536, 0.36175552010536194, 1.5676922798156738, 0.8763823509216309], "std": [0.00799743551760912, 0.025278989225625992, 0.02341865748167038, 0.28446733951568604, 0.06564851105213165, 0.07312686741352081, 0.04639860615134239, 0.059792108833789825, 0.08048076927661896, 0.45064711570739746, 0.30122867226600647, 0.42155006527900696], "count": [1492]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.1381811499595642, 1.0398319959640503, -1.290725827217102, 1.0360444784164429, -1.5053865909576416, 0.2893924117088318, -0.3228118121623993, 1.009387493133545, -0.2708841860294342, 1.0023082494735718, 0.10210586339235306], "max": [0.41913190484046936, 0.2646549940109253, 1.1466366052627563, -0.23954208195209503, 1.378758192062378, -1.1397316455841064, 0.4390035569667816, -0.08753510564565659, 1.2725260257720947, 1.2080273628234863, 2.087989568710327, 1.6837754249572754], "mean": [0.4043368101119995, 0.16272218525409698, 1.0982218980789185, -0.5113183259963989, 1.151297926902771, -1.2268482446670532, 0.37753474712371826, -0.19555576145648956, 1.1291230916976929, 0.3628218472003937, 1.5673831701278687, 0.8767760992050171], "std": [0.008096638135612011, 0.025222690775990486, 0.023433977738022804, 0.28408458828926086, 0.06542320549488068, 0.07326144725084305, 0.04644271358847618, 0.060114797204732895, 0.08057627081871033, 0.45103177428245544, 0.30103325843811035, 0.4218398630619049], "count": [1492]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.947050938337801], "std": [6.917205547755437], "count": [1492]}, "observation.tactile": {"min": [-9.077888488769531, -0.006134033203125, 0.0, -0.29314231872558594, -0.048883914947509766, -0.17018365859985352, -0.33225059509277344, 0.0, -0.002197265625, -0.3193502426147461, -0.013343334197998047, -0.0074689388275146484, -0.8935146331787109, -0.010650634765625, -0.0067138671875, -0.2968568801879883, -0.020651817321777344, -0.019456148147583008, -0.024097442626953125, -0.010498046875, -0.0068359375, -0.000217437744140625, -0.001026153564453125, -0.00044226646423339844, -0.007480621337890625, -0.00189208984375, -0.00274658203125, -2.47955322265625e-05, -0.0012359619140625, -0.0003540515899658203, -0.064544677734375, -0.02264404296875, -0.0028076171875, -0.45538997650146484, -0.021395206451416016, -0.0007584095001220703, -9.243541717529297, -0.010040283203125, -0.00457763671875, -0.25971508026123047, -0.049732208251953125, -0.13321375846862793, -0.02469635009765625, -0.006134033203125, -0.00445556640625, -0.0002002716064453125, -0.0011286735534667969, -0.0005431175231933594, -0.0239715576171875, -0.016204833984375, -0.00555419921875, -0.0013294219970703125, -0.00119781494140625, -0.0008232593536376953, -0.026494979858398438, -0.013580322265625, -0.005859375, -0.00024890899658203125, -0.0013484954833984375, -0.0005278587341308594], "max": [0.04903411865234375, 13.161834716796875, 11.12042236328125, 0.0009756088256835938, 0.0019488334655761719, 0.0012011528015136719, 5.091577529907227, 8.876251220703125, 20.0157470703125, 0.00077056884765625, 0.018463611602783203, 0.08737587928771973, 6.038125991821289, 9.998992919921875, 19.74481201171875, 0.0027112960815429688, 0.011696815490722656, 0.09825015068054199, 0.016826629638671875, 0.0056610107421875, 0.0023193359375, 0.0009822845458984375, 8.249282836914062e-05, 0.0, 0.030078887939453125, 0.012939453125, 0.00360107421875, 0.0014781951904296875, 9.34600830078125e-05, 0.00011730194091796875, 9.899505615234375, 26.25018310546875, 22.18756103515625, 0.0011844635009765625, 0.036664485931396484, 0.18468260765075684, 0.7203254699707031, 17.007965087890625, 16.52801513671875, 0.00116729736328125, 0.017360687255859375, 0.01740574836730957, 0.02358245849609375, 0.0128936767578125, 0.01934814453125, 0.00124359130859375, 0.00024700164794921875, 7.200241088867188e-05, 0.292694091796875, 0.06756591796875, 0.1456298828125, 0.0008296966552734375, 0.0017499923706054688, 0.004693746566772461, 0.008115768432617188, 0.0303802490234375, 0.03961181640625, 0.000728607177734375, 0.0005521774291992188, 0.0005762577056884766], "mean": [-6.7710089683532715, 9.170149803161621, 7.48442268371582, -0.18998557329177856, -0.027886157855391502, -0.12449708580970764, 2.67044734954834, 2.837419271469116, 9.366825103759766, -0.13551035523414612, 0.004257043823599815, 0.04363485798239708, 0.4789678752422333, 0.7872690558433533, 2.2490062713623047, -0.03761032596230507, 0.0010662047425284982, 0.007659608032554388, -0.003786182962357998, -0.0002249546378152445, -0.002476832829415798, 0.00013055749877821654, -0.0001974208134924993, -0.00017197434499394149, 0.006641848012804985, 0.0050838664174079895, 0.0004375958815217018, 0.0009662650991231203, -0.0008246099459938705, -0.00020066869910806417, 1.8883074522018433, 3.172617197036743, 3.5408716201782227, -0.07977083325386047, 0.0007745596230961382, 0.03501565381884575, -1.2222481966018677, 1.6755449771881104, 2.2372937202453613, -0.04264146089553833, -0.0030663993675261736, -0.02194216474890709, 0.004849380347877741, -0.0011476920917630196, 0.001470816321671009, 0.0003991420962847769, -0.0003238213248550892, -0.00022527742839884013, 0.00832335278391838, 0.0025522983632981777, 0.0059401486068964005, 0.00023308899835683405, -0.00046339654363691807, -0.00033485674066469073, -0.004916060715913773, -0.0003451636293902993, 0.0012862790608778596, 0.00013659083924721926, -7.395194552373141e-05, -0.00010919779015239328], "std": [3.0026745796203613, 4.226385116577148, 3.529571533203125, 0.09077300876379013, 0.013589709997177124, 0.05504468083381653, 1.1844769716262817, 1.4301470518112183, 4.501405715942383, 0.06446275860071182, 0.006650381255894899, 0.019723722711205482, 0.935185432434082, 1.3752003908157349, 2.311523199081421, 0.03535224124789238, 0.006138931959867477, 0.016729919239878654, 0.00584895396605134, 0.0017192016821354628, 0.0014222487807273865, 0.00014228009968064725, 0.0001289123756578192, 6.40093712718226e-05, 0.0033220513723790646, 0.0014763178769499063, 0.0010751597583293915, 0.00017075760115403682, 0.00014312210259959102, 5.9132566093467176e-05, 2.6239328384399414, 4.977473258972168, 5.221353530883789, 0.11724861711263657, 0.004542621783912182, 0.048969417810440063, 1.9615157842636108, 2.7632668018341064, 3.1478829383850098, 0.05968242883682251, 0.007690177299082279, 0.03437931090593338, 0.005858864169567823, 0.0011033384362235665, 0.0021055727265775204, 0.00030541839078068733, 0.00031931581906974316, 0.00012620286724995822, 0.011603901162743568, 0.002892299322411418, 0.005805226508527994, 0.0002360535872867331, 0.00028401773306541145, 0.00021783786360174417, 0.0065420251339674, 0.001625553471967578, 0.002082663122564554, 0.0001250839268323034, 0.00010580475645838305, 6.762360135326162e-05], "count": [1492]}, "timestamp": {"min": [0.0], "max": [49.7], "mean": [24.849999999999998], "std": [14.356773469148436], "count": [1492]}, "frame_index": {"min": [0], "max": [1491], "mean": [745.5], "std": [430.7032040744531], "count": [1492]}, "episode_index": {"min": [53], "max": [53], "mean": [53.0], "std": [0.0], "count": [1492]}, "index": {"min": [82999], "max": [84490], "mean": [83744.5], "std": [430.7032040744531], "count": [1492]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1492]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3410375118255615]], [[0.3404271900653839]], [[0.34026437997817993]]], "std": [[[0.21727120876312256]], [[0.21726597845554352]], [[0.2171853929758072]]], "count": [1492]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3020147681236267]], [[0.30410563945770264]], [[0.3019283711910248]]], "std": [[[0.16910046339035034]], [[0.1712469905614853]], [[0.17035573720932007]]], "count": [1492]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3087461590766907]], [[0.30697816610336304]], [[0.30429816246032715]]], "std": [[[0.17412464320659637]], [[0.17422683537006378]], [[0.17210455238819122]]], "count": [1492]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.340170681476593]], [[0.33956262469291687]], [[0.3395174443721771]]], "std": [[[0.21832714974880219]], [[0.21836553514003754]], [[0.21836568415164948]]], "count": [1492]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8235294222831726]], [[0.8235294222831726]], [[0.8235294222831726]]], "mean": [[[0.012964613735675812]], [[0.012964613735675812]], [[0.012964613735675812]]], "std": [[[0.08002706617116928]], [[0.08002706617116928]], [[0.08002706617116928]]], "count": [1492]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4726995825767517]], [[0.4726995825767517]], [[0.4726995825767517]]], "std": [[[0.15373380482196808]], [[0.15373380482196808]], [[0.15373380482196808]]], "count": [1492]}}}
+{"episode_index": 54, "stats": {"observation.state": {"min": [0.9579705595970154, -0.7800067663192749, -8.149272616719827e-06, 1.042587399482727, -0.8574276566505432, -0.7700110077857971, 0.45009946823120117, 0.0076832897029817104, -0.25669485330581665, -0.24740630388259888, -0.31714028120040894, 0.0024429382756352425, 0.0032155783846974373, -0.00016362470341846347, 0.0038119053933769464, 0.0008096902165561914, 0.003989053890109062, -0.0006746139843016863, 0.0034906715154647827, 0.0008589101489633322, 0.0032504131086170673, -4.587375951814465e-05, 0.0031190894078463316, 0.0008872891776263714, 0.0061834026128053665, 0.003272000700235367, 8.242548938142136e-05, 0.00286486791446805, 0.0008314179140143096, 0.3311389088630676, -0.9597912430763245, 0.002754214685410261, 1.1544586420059204, -1.7739096879959106, -0.7675935626029968, -0.413494348526001, 0.006325321737676859, -0.31865155696868896, -0.11401676386594772, -0.3049962818622589, 0.00690121203660965, 0.003212143899872899, 9.886148473015055e-05, 0.0034917350858449936, 0.0008832984021864831, 0.0032432989683002234, -0.0001535666233394295, 0.003411249490454793, 0.0010265239980071783, 0.0032803413923829794, -0.00010891947022173554, 0.0035552019253373146, 0.0009684356045909226, 0.00583768030628562, 0.0033073259983211756, -0.0002791676379274577, 0.006771796382963657, 0.000854919315315783, 0.5624915957450867, -1.1069588661193848, 0.47457531094551086, -0.019845876842737198, 0.0001917476038215682, -0.0932852029800415, -0.8634394407272339], "max": [1.1024917364120483, -0.4504545331001282, 0.20903147757053375, 1.5699968338012695, 1.4620754882344045e-05, -0.4123421907424927, 0.6871210336685181, 1.220996379852295, -5.004779450246133e-05, 0.6595750451087952, -0.005090038757771254, 0.9691036343574524, 1.3034266233444214, 0.22868482768535614, 0.004784116521477699, 0.08564314246177673, 1.3373396396636963, 0.21420495212078094, 0.02239738218486309, 0.10098069161176682, 1.2382413148880005, 0.13248661160469055, 0.003194611519575119, 0.26741859316825867, 0.062100544571876526, 0.8611548542976379, 0.20565840601921082, 0.011628244072198868, 0.013042397797107697, 1.0893417596817017, -0.3650939464569092, 0.8430807590484619, 1.7778282165527344, -0.0032073380425572395, 0.12220518290996552, 0.5172233581542969, 1.3117969036102295, 0.0012739538215100765, 0.53929203748703, 0.31027552485466003, 0.6189987063407898, 1.4645490646362305, 0.1055292934179306, 0.10820833593606949, 0.4800824522972107, 1.4668152332305908, 0.22978921234607697, 1.6533795595169067, 1.2711151838302612, 1.4665966033935547, 0.2433566004037857, 1.6537145376205444, 1.0028443336486816, 0.13766714930534363, 1.466791033744812, 0.2054874151945114, 1.653473138809204, 1.3081175088882446, 0.5629709362983704, -1.1066712141036987, 0.544083833694458, -9.58738019107841e-05, 0.02569417841732502, 0.04122573509812355, -0.5997864603996277], "mean": [1.0121731758117676, -0.5255622267723083, 0.10720392316579819, 1.1330821514129639, -0.6818453669548035, -0.6292431950569153, 0.584883451461792, 1.1604244709014893, -0.2050720453262329, 0.5157106518745422, -0.3069959282875061, 0.7641322016716003, 1.236937165260315, 0.20290343463420868, 0.00419646268710494, 0.07960768789052963, 1.2610037326812744, 0.1955357789993286, 0.004053631331771612, 0.07942643016576767, 1.1674803495407104, 0.10576727986335754, 0.0031414213590323925, 0.24968865513801575, 0.06018204241991043, 0.8124536275863647, 0.14292895793914795, 0.007462891284376383, 0.0062314970418810844, 0.8147390484809875, -0.6953680515289307, 0.502295196056366, 1.4381392002105713, -1.2782185077667236, -0.25357624888420105, -0.1278325319290161, 1.2313923835754395, -0.24177640676498413, 0.2441139817237854, -0.09523941576480865, 0.5688175559043884, 1.221256971359253, 0.07192198187112808, 0.09889327734708786, 0.41362684965133667, 1.4030250310897827, 0.16711290180683136, 1.2340166568756104, 1.1128185987472534, 1.3736764192581177, 0.14142245054244995, 1.4043089151382446, 0.8713160157203674, 0.11719448119401932, 1.4252562522888184, 0.11789839714765549, 1.385969638824463, 1.0985925197601318, 0.5626828074455261, -1.1068518161773682, 0.4827409088611603, -0.016664858907461166, 0.018712973222136497, -0.02789742313325405, -0.7452489733695984], "std": [0.026710497215390205, 0.07150382548570633, 0.03197923302650452, 0.0994606614112854, 0.2365180104970932, 0.0733102411031723, 0.03391149267554283, 0.17521974444389343, 0.031759556382894516, 0.2207270860671997, 0.04273547977209091, 0.11394533514976501, 0.19616535305976868, 0.04148014634847641, 0.00016179132217075676, 0.011657364666461945, 0.2135760486125946, 0.03271002694964409, 0.002470633713528514, 0.029972398653626442, 0.1964636892080307, 0.020340191200375557, 7.941342119011097e-06, 0.05153908580541611, 0.008000960573554039, 0.12588903307914734, 0.023775773122906685, 0.002591049298644066, 0.004129042848944664, 0.20094548165798187, 0.15618298947811127, 0.1610087752342224, 0.17284001410007477, 0.40568187832832336, 0.22393660247325897, 0.16862331330776215, 0.16991141438484192, 0.06012047082185745, 0.2041977345943451, 0.15583227574825287, 0.08155940473079681, 0.23200324177742004, 0.020494475960731506, 0.015060288831591606, 0.07147888839244843, 0.19695420563220978, 0.025635195896029472, 0.5242664217948914, 0.24178074300289154, 0.23811998963356018, 0.028426408767700195, 0.555531919002533, 0.1678023487329483, 0.029678506776690483, 0.17805777490139008, 0.02592093124985695, 0.5884173512458801, 0.46395042538642883, 5.02036273246631e-05, 3.71499772882089e-05, 0.009635670110583305, 0.003298633499071002, 0.005023648962378502, 0.03532934561371803, 0.07374497503042221], "count": [1371]}, "observation.state.joint_torque": {"min": [-44.6609992980957, -10.828499794006348, -22.131000518798828, -12.187999725341797, -0.3776000142097473, -0.8871999979019165, 0.46239998936653137, -1.3957860469818115, -0.5221462249755859, -0.88230961561203, -0.6847219467163086, -0.41008326411247253, -0.3981776833534241, -0.706165611743927, -0.004980768077075481, -0.04923170804977417, -0.5315431952476501, -0.3214205205440521, -0.09463459998369217, -0.039956167340278625, -0.5612865686416626, -0.7781254649162292, -0.0016602561809122562, -0.03496164828538895, -0.08400201052427292, -0.45094820857048035, -0.3271773159503937, -0.061429474502801895, -0.027826614677906036, 5.182499885559082, -10.272000312805176, 1.2489999532699585, -12.847000122070312, -1.7863999605178833, -0.9864000082015991, -3.8784000873565674, -1.4785653352737427, -1.0099072456359863, -0.6983915567398071, -0.8288739919662476, -0.10957689583301544, -0.5363404750823975, -1.2060465812683105, -0.11289741843938828, -0.027826614677906036, -0.33293408155441284, -0.3434881865978241, -0.67572420835495, -0.03781566023826599, -0.46438068151474, -0.5449756383895874, -0.49309608340263367, -0.03496164828538895, -0.05849354341626167, -0.41736695170402527, -0.9661805033683777, -0.4150640070438385, -0.07848532497882843, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-15.149999618530273, 17.58449935913086, -6.520999908447266, 4.896999835968018, 1.7552000284194946, 1.784000039100647, 4.491199970245361, 0.9016575813293457, 1.7702033519744873, 1.4440052509307861, 1.2812130451202393, 0.2988460958003998, 1.441115379333496, 0.513313353061676, 0.009961536154150963, 0.12058199942111969, 0.5564892888069153, 0.7493415474891663, 0.05478844791650772, 0.022118592634797096, 0.5699217915534973, 0.15063588321208954, 0.0016602561809122562, 0.02497260272502899, 0.06113235652446747, 0.39146143198013306, 0.3952992558479309, 0.06807050108909607, 0.014983562752604485, 54.56100082397461, 15.607500076293945, 29.209999084472656, -2.5260000228881836, 0.052799999713897705, 3.007999897003174, 0.2768000066280365, 1.5791740417480469, 3.9020884037017822, 1.9733911752700806, 1.3843562602996826, 0.6109743118286133, 2.138645648956299, 0.85200434923172, 1.0559228658676147, 0.21405088901519775, 0.41544800996780396, 0.4499887228012085, 0.3918204605579376, 0.02497260272502899, 0.4586239159107208, 1.1849383115768433, 0.4864550530910492, 0.02425910159945488, 0.49169760942459106, 0.3003123104572296, 0.435596764087677, 0.24571789801120758, 0.046377696096897125, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-31.779884338378906, 0.5848301649093628, -13.957284927368164, -4.885560035705566, 0.208376944065094, 0.8518767356872559, 1.5855656862258911, -0.09620005637407303, 0.16166558861732483, 0.3483481705188751, 0.201252281665802, 0.02932271733880043, 0.2804878056049347, -0.0878850445151329, -0.0001525837869849056, 0.04587971046566963, 0.04107845947146416, 0.11579788476228714, -0.0009724174160510302, 0.002424144884571433, 0.0027026687748730183, -0.08114665001630783, 0.0, 0.00028207010473124683, -0.0005523975123651326, 0.015327580273151398, 0.01822632923722267, 0.0010148042347282171, -0.0030351183377206326, 27.556856155395508, 4.529732704162598, 13.959183692932129, -7.655002117156982, -0.6528202295303345, 1.1904717683792114, -1.109039068222046, 0.08089179545640945, 0.6121135354042053, 0.15987372398376465, 0.08449838310480118, 0.057876475155353546, 0.3832673132419586, -0.12499421089887619, 0.17131149768829346, 0.04177706316113472, 0.0078058973886072636, -0.006698750425130129, 0.00818744394928217, 0.0021800585091114044, -0.0008677951991558075, 0.06076331436634064, 0.001139533706009388, -0.00030288880225270987, 0.1377900391817093, -0.005921941250562668, -0.11802459508180618, 0.0014592371881008148, 7.806865141901653e-06, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.6857836246490479, 1.7682656049728394, 0.8399994373321533, 1.0874699354171753, 0.30193614959716797, 0.4581177830696106, 0.4485369026660919, 0.31952545046806335, 0.3393550515174866, 0.3982330858707428, 0.24356499314308167, 0.057184018194675446, 0.26293519139289856, 0.17863354086875916, 0.001432339777238667, 0.027841338887810707, 0.14971204102039337, 0.1485227346420288, 0.0066169025376439095, 0.0059137349016964436, 0.1501730978488922, 0.14477750658988953, 6.341198604786769e-05, 0.005564026068896055, 0.00708693265914917, 0.0921621024608612, 0.07081818580627441, 0.00664278119802475, 0.009055955335497856, 4.30476188659668, 3.0458176136016846, 1.849646806716919, 2.121145248413086, 0.2245459258556366, 0.6594325304031372, 0.6915674805641174, 0.41609615087509155, 0.9687749743461609, 0.3649665415287018, 0.2899194657802582, 0.11198548972606659, 0.5966925024986267, 0.35643190145492554, 0.2646539509296417, 0.06388000398874283, 0.06087460741400719, 0.05883758142590523, 0.04540100693702698, 0.0068769799545407295, 0.09095606207847595, 0.2049434632062912, 0.025490039959549904, 0.008025738410651684, 0.13137710094451904, 0.09364048391580582, 0.19430162012577057, 0.023277943953871727, 0.005520473700016737, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1371]}, "observation.state.tcp": {"min": [0.3615453541278839, 0.1414044052362442, 1.0373615026474, -1.2089704275131226, 0.9671052694320679, -1.442664384841919, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2722463309764862, -0.28726524114608765, 0.9931643009185791, -0.2801785469055176, 0.9795857071876526, 0.17521321773529053, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.42018890380859375, 0.2556563913822174, 1.1434849500656128, -0.19653278589248657, 1.333938717842102, -1.1435327529907227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.45192664861679077, -0.08880364149808884, 1.2720454931259155, 1.2056102752685547, 2.0857295989990234, 1.5207123756408691, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.40303540229797363, 0.17059193551540375, 1.080833911895752, -0.44854411482810974, 1.0895946025848389, -1.2202681303024292, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.37687304615974426, -0.19214294850826263, 1.1182676553726196, 0.36793214082717896, 1.5315090417861938, 0.837062418460846, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.00859704241156578, 0.020461006090044975, 0.019911400973796844, 0.2654641568660736, 0.06672441959381104, 0.08389559388160706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.055059172213077545, 0.06291233748197556, 0.07896651327610016, 0.4547103941440582, 0.3085848093032837, 0.3745024800300598, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1371]}, "action": {"min": [0.9578418135643005, -0.7799999713897705, -2.6032771812278996e-18, 1.042485237121582, -0.8574125170707703, -0.7699999809265137, 0.4501228630542755, 0.0, -0.2606702446937561, -0.25470688939094543, -0.3490658402442932, 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, 0.33092305064201355, -0.9600277543067932, 0.005686480551958084, 1.1544532775878906, -1.7738841772079468, -0.7662031054496765, -0.41349083185195923, 0.0, -0.3490658402442932, -0.11625870317220688, -0.3092781901359558, 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, 0.5626833438873291, -1.1069231033325195, 0.4742523729801178, -0.020076734945178032, 1.2855372097978754e-18, -0.09409534931182861, -0.8636491298675537], "max": [1.1025367975234985, -0.4504219889640808, 0.20908477902412415, 1.5700000524520874, -1.7912500522077488e-19, -0.41121286153793335, 0.6872645616531372, 1.2206652164459229, 0.0, 0.6660747528076172, 0.0, 0.9749888777732849, 1.3108794689178467, 0.2288617491722107, 0.0, 0.08536606281995773, 1.3411937952041626, 0.2197536826133728, 0.027260951697826385, 0.10493381321430206, 1.2444244623184204, 0.13337105512619019, 0.0, 0.27219539880752563, 0.08699586242437363, 0.8699586987495422, 0.2056599259376526, 0.018254339694976807, 0.015416478738188744, 1.0895025730133057, -0.3649875223636627, 0.8433955311775208, 1.7780067920684814, -0.008526614867150784, 0.12223520874977112, 0.5139331221580505, 1.3134713172912598, 0.0, 0.5467086434364319, 0.3490658402442932, 0.6240425109863281, 1.5378540754318237, 0.10614316910505295, 0.11470651626586914, 0.48147812485694885, 1.5707963705062866, 0.23173755407333374, 1.7453292608261108, 1.2727246284484863, 1.5707963705062866, 0.24602288007736206, 1.7453292608261108, 1.0055243968963623, 0.15592914819717407, 1.5707963705062866, 0.2082485556602478, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.5442397594451904, 1.1018782466939384e-19, 0.026661844924092293, 0.04114251956343651, -0.6000000238418579], "mean": [1.0122019052505493, -0.5256718993186951, 0.10722006112337112, 1.133194088935852, -0.6818150877952576, -0.6292413473129272, 0.5850686430931091, 1.159424901008606, -0.20186512172222137, 0.5216587781906128, -0.33989208936691284, 0.7664691805839539, 1.2423690557479858, 0.20285123586654663, 0.0, 0.08141530305147171, 1.2623414993286133, 0.19892250001430511, 0.0006078349542804062, 0.08190786838531494, 1.169795036315918, 0.10706988722085953, 0.0, 0.25313103199005127, 0.08153782039880753, 0.8153775930404663, 0.14613579213619232, 0.011102243326604366, 0.007242010906338692, 0.8153810501098633, -0.6957926154136658, 0.502042829990387, 1.4381341934204102, -1.2774603366851807, -0.2540113031864166, -0.1279371827840805, 1.2324143648147583, -0.24421337246894836, 0.24546650052070618, -0.09574904292821884, 0.5704303979873657, 1.228664755821228, 0.07099680602550507, 0.10109929740428925, 0.41605693101882935, 1.4918251037597656, 0.16746695339679718, 1.239317774772644, 1.1136555671691895, 1.4601205587387085, 0.14137259125709534, 1.4804543256759644, 0.8724678754806519, 0.1313573271036148, 1.5143154859542847, 0.11624233424663544, 1.460188865661621, 1.1714003086090088, 0.5626831650733948, -1.1068533658981323, 0.4828014373779297, -0.01670571230351925, 0.018749339506030083, -0.027912631630897522, -0.7452592849731445], "std": [0.026740090921521187, 0.07169997692108154, 0.0320027619600296, 0.0996771827340126, 0.23660624027252197, 0.07335270196199417, 0.03358830511569977, 0.19162288308143616, 0.03438916429877281, 0.2203269600868225, 0.0550563782453537, 0.13241326808929443, 0.21342936158180237, 0.04228173941373825, 0.0, 0.013255841098725796, 0.22787508368492126, 0.03647468984127045, 0.0035533613990992308, 0.031375702470541, 0.2103351652622223, 0.022533008828759193, 0.0, 0.053079843521118164, 0.013911386951804161, 0.13911385834217072, 0.027816012501716614, 0.005111971404403448, 0.006015102844685316, 0.2014695405960083, 0.15634383261203766, 0.16124854981899261, 0.17309117317199707, 0.40581005811691284, 0.22402651607990265, 0.1684594303369522, 0.19009365141391754, 0.0727287158370018, 0.20458818972110748, 0.15957999229431152, 0.09417934715747833, 0.25146907567977905, 0.02084842510521412, 0.017220892012119293, 0.07940702140331268, 0.24331538379192352, 0.02954462356865406, 0.5266107320785522, 0.250236839056015, 0.28553715348243713, 0.03198406472802162, 0.5887627601623535, 0.17619337141513824, 0.03261873871088028, 0.2230941504240036, 0.029115838930010796, 0.6214067935943604, 0.49601101875305176, 1.801782048005407e-07, 1.351735681964783e-05, 0.009963714517652988, 0.0033961681183427572, 0.005123619921505451, 0.03538620099425316, 0.07398136705160141], "count": [1371]}, "observation.state.tcp_pose": {"min": [0.3615453541278839, 0.1414044052362442, 1.0373615026474, -1.2089704275131226, 0.9671052694320679, -1.442664384841919, 0.2722463309764862, -0.28726524114608765, 0.9931643009185791, -0.2801785469055176, 0.9795857071876526, 0.17521321773529053], "max": [0.42018890380859375, 0.2556563913822174, 1.1434849500656128, -0.19653278589248657, 1.333938717842102, -1.1435327529907227, 0.45192664861679077, -0.08880364149808884, 1.2720454931259155, 1.2056102752685547, 2.0857295989990234, 1.5207123756408691], "mean": [0.40303540229797363, 0.17059193551540375, 1.080833911895752, -0.44854411482810974, 1.0895946025848389, -1.2202681303024292, 0.37687304615974426, -0.19214294850826263, 1.1182676553726196, 0.36793214082717896, 1.5315090417861938, 0.837062418460846], "std": [0.00859704241156578, 0.020461006090044975, 0.019911400973796844, 0.2654641568660736, 0.06672441959381104, 0.08389559388160706, 0.055059172213077545, 0.06291233748197556, 0.07896651327610016, 0.4547103941440582, 0.3085848093032837, 0.3745024800300598], "count": [1371]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.1415797621011734, 1.037379264831543, -1.208855390548706, 0.9665058255195618, -1.4431854486465454, 0.27256184816360474, -0.28718873858451843, 0.9928466081619263, -0.28008800745010376, 0.9805637001991272, 0.1746624857187271], "max": [0.4216107726097107, 0.25543689727783203, 1.1437429189682007, -0.19668616354465485, 1.333569884300232, -1.1433519124984741, 0.4522731304168701, -0.08867662400007248, 1.2726492881774902, 1.2056853771209717, 2.085994005203247, 1.5196409225463867], "mean": [0.40303468704223633, 0.17064440250396729, 1.0808385610580444, -0.448511004447937, 1.0894052982330322, -1.2203303575515747, 0.37694016098976135, -0.1923229992389679, 1.1184992790222168, 0.36857497692108154, 1.531002163887024, 0.8368172645568848], "std": [0.00870794989168644, 0.020521221682429314, 0.019944002851843834, 0.26529401540756226, 0.0664648562669754, 0.08390140533447266, 0.055196363478899, 0.06306494772434235, 0.0791294202208519, 0.45533302426338196, 0.30832603573799133, 0.37438517808914185], "count": [1371]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.61925601750547], "std": [6.892169979926055], "count": [1371]}, "observation.tactile": {"min": [-8.593887329101562, -0.01251220703125, 0.0, -0.23443603515625, -0.017437458038330078, -0.17493820190429688, -0.06118011474609375, -0.0010986328125, -0.00701904296875, -0.0938730239868164, -0.013445854187011719, -0.006147146224975586, -0.06513595581054688, -0.008026123046875, -0.00518798828125, -0.11864376068115234, -0.013036251068115234, -0.0011241436004638672, -0.012981414794921875, -0.005889892578125, -0.0059814453125, -0.0004062652587890625, -0.00098419189453125, -0.00031960010528564453, -0.01779937744140625, -0.003326416015625, -0.002685546875, -0.0002384185791015625, -0.0010285377502441406, -0.00032806396484375, -0.08335494995117188, -0.0252685546875, 0.0, -0.30051517486572266, -0.027469158172607422, -0.00865030288696289, -9.462772369384766, -0.006195068359375, -6.103515625e-05, -0.1577749252319336, -0.03157854080200195, -0.12966346740722656, -0.024904251098632812, -0.00714111328125, -0.00677490234375, -0.00037860870361328125, -0.0014061927795410156, -0.0005047321319580078, -0.018463134765625, -0.005584716796875, -0.01409912109375, -0.0008020401000976562, -0.0010290145874023438, -0.0005040168762207031, -0.010309219360351562, -0.0032958984375, -0.00885009765625, -3.4332275390625e-05, -0.0014224052429199219, -0.0005736351013183594], "max": [0.027618408203125, 7.9156494140625, 9.5111083984375, 0.00028324127197265625, 0.003562450408935547, 0.0004031658172607422, 3.5425796508789062, 2.56304931640625, 7.3111572265625, 0.0020933151245117188, 0.01982593536376953, 0.05830979347229004, 4.115833282470703, 4.350616455078125, 8.22198486328125, 0.0016679763793945312, 0.002216815948486328, 0.07248997688293457, 0.0098724365234375, 0.00799560546875, 0.0045166015625, 0.0009441375732421875, 0.0001773834228515625, 1.239776611328125e-05, 0.01157379150390625, 0.008453369140625, 0.00445556640625, 0.00099945068359375, 0.00014543533325195312, 3.1948089599609375e-05, 6.157001495361328, 14.48468017578125, 13.31304931640625, 0.001430511474609375, 0.014538288116455078, 0.12299489974975586, 1.0977745056152344, 11.602325439453125, 7.35968017578125, 0.0025110244750976562, 0.008101940155029297, 0.019033432006835938, 0.014875411987304688, 0.0175323486328125, 0.039031982421875, 0.00121307373046875, 0.0009160041809082031, 0.000133514404296875, 0.3673095703125, 0.0099029541015625, 0.024658203125, 0.0008373260498046875, 0.0014934539794921875, 0.0034055709838867188, 0.019277572631835938, 0.008544921875, 0.00518798828125, 0.0015583038330078125, 1.71661376953125e-05, 2.3126602172851562e-05], "mean": [-4.598651885986328, 3.7988080978393555, 3.5102784633636475, -0.07831171154975891, -0.0042579323053359985, -0.10050813853740692, 1.3508491516113281, 1.205711007118225, 4.243663311004639, -0.043239641934633255, 0.005460062995553017, 0.017856746912002563, 0.1523178666830063, 0.2581198215484619, 0.35025134682655334, -0.004104232881218195, -0.001103528426028788, 0.0019255102379247546, -7.367429498117417e-05, 0.0002937010722234845, -0.001291977590881288, -6.9657876338169444e-06, -6.559971370734274e-05, -9.720722300698981e-05, 0.00195426307618618, 0.0028945065569132566, 0.0008536908426322043, 0.0004704153398051858, -0.0004274053790140897, -0.00011692118278006092, 1.5354424715042114, 2.980534553527832, 3.387810707092285, -0.08216632157564163, -0.0007564130937680602, 0.03089282661676407, -1.147047519683838, 1.3870433568954468, 1.938049554824829, -0.03787294775247574, -0.0019116729963570833, -0.022528372704982758, 0.0020074057392776012, -0.00080592226004228, -0.0009234516764990985, 0.0003251139132771641, -0.00026968150632455945, -0.00021031239884905517, 0.004212724976241589, 0.00045218769810162485, -0.004088576417416334, 0.00027724236133508384, -0.00033363228430971503, -0.00019362640159670264, 0.004946667701005936, 0.0011633852263912559, -0.002625980880111456, 0.0007978128851391375, -0.000657218974083662, -0.00026193176745437086], "std": [2.301750659942627, 1.909998893737793, 1.770417332649231, 0.041637495160102844, 0.003212088719010353, 0.04947664588689804, 0.7228997945785522, 0.5557177066802979, 2.0143768787384033, 0.020761137828230858, 0.004947639536112547, 0.010791060514748096, 0.40542975068092346, 0.3993326723575592, 0.779746413230896, 0.01122178416699171, 0.001275924383662641, 0.006679914891719818, 0.002950146095827222, 0.001668358687311411, 0.0015207697870209813, 0.00012299577065277845, 8.333093137480319e-05, 4.38147944805678e-05, 0.0017354438314214349, 0.0014153396477922797, 0.0011608138447627425, 0.00015743794210720807, 0.0001761562016326934, 5.80435516894795e-05, 1.8531794548034668, 4.193782806396484, 4.481982707977295, 0.10958996415138245, 0.00734779704362154, 0.03754020482301712, 1.8909449577331543, 2.01785945892334, 2.5080795288085938, 0.05179853364825249, 0.00392933189868927, 0.036871980875730515, 0.006126066204160452, 0.0017292548436671495, 0.0022927597165107727, 0.0002735877351369709, 0.00030158861773088574, 0.0001057313711498864, 0.012314289808273315, 0.0018931608647108078, 0.003386879339814186, 0.00021194307191763073, 0.00030561667517758906, 0.00017400864453520626, 0.0030550474766641855, 0.0009414945379830897, 0.002069600624963641, 0.0002926720480900258, 0.0002925015287473798, 0.00011919462849618867], "count": [1371]}, "timestamp": {"min": [0.0], "max": [45.666666666666664], "mean": [22.833333333333332], "std": [13.192450141681064], "count": [1371]}, "frame_index": {"min": [0], "max": [1370], "mean": [685.0], "std": [395.7735042504319], "count": [1371]}, "episode_index": {"min": [54], "max": [54], "mean": [54.0], "std": [0.0], "count": [1371]}, "index": {"min": [84491], "max": [85861], "mean": [85176.0], "std": [395.7735042504319], "count": [1371]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1371]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3400554955005646]], [[0.33940595388412476]], [[0.3393799364566803]]], "std": [[[0.21619316935539246]], [[0.21620403230190277]], [[0.2162720113992691]]], "count": [1371]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3005380928516388]], [[0.3023366332054138]], [[0.29992207884788513]]], "std": [[[0.16733518242835999]], [[0.16937023401260376]], [[0.16889329254627228]]], "count": [1371]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3092561960220337]], [[0.30735576152801514]], [[0.3045652210712433]]], "std": [[[0.17424160242080688]], [[0.17430545389652252]], [[0.17213492095470428]]], "count": [1371]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3380122184753418]], [[0.33739957213401794]], [[0.3374912142753601]]], "std": [[[0.21679829061031342]], [[0.21687597036361694]], [[0.21699368953704834]]], "count": [1371]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.7921568751335144]], [[0.7921568751335144]], [[0.7921568751335144]]], "mean": [[[0.006993850693106651]], [[0.006993850693106651]], [[0.006993850693106651]]], "std": [[[0.05735336244106293]], [[0.05735336244106293]], [[0.05735336244106293]]], "count": [1371]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.9725490212440491]], [[0.9725490212440491]], [[0.9725490212440491]]], "mean": [[[0.47323718667030334]], [[0.47323718667030334]], [[0.47323718667030334]]], "std": [[[0.15209901332855225]], [[0.15209901332855225]], [[0.15209901332855225]]], "count": [1371]}}}
+{"episode_index": 55, "stats": {"observation.state": {"min": [0.9886474013328552, -0.7800057530403137, -7.789746632624883e-06, 1.0431561470031738, -0.7373018860816956, -0.7700089812278748, 0.43057987093925476, 0.007679495494812727, -0.24474291503429413, -0.24175244569778442, -0.3178921937942505, 0.0022131814621388912, 0.003230297239497304, -0.00013320555444806814, 0.003397421445697546, 0.0008296442101709545, 0.003923800773918629, -0.0007410942343994975, 0.0036512883380055428, 0.000857136445119977, 0.003364238888025284, 0.00014056501095183194, 0.003134335856884718, 0.0008575798710808158, 0.005829117260873318, 0.0032275987323373556, 6.30458744126372e-05, 0.004526704549789429, 0.0008744299411773682, 0.36067336797714233, -1.0477489233016968, 0.002161714481189847, 1.274940013885498, -1.867477297782898, -0.7681220173835754, -0.4167217016220093, 0.009046136401593685, -0.3195657730102539, -0.14611957967281342, -0.27478843927383423, 0.006879938300698996, 0.004923455882817507, -0.0017959455726668239, 0.0034708159510046244, 0.000866004906129092, 0.0032391285058110952, -0.0018835212104022503, 0.003405221737921238, 0.00099415413569659, 0.0032930977176874876, -0.00012461969163268805, 0.0035339281894266605, 0.0008575798710808158, 0.010565409436821938, 0.0032886818516999483, -0.000282847264315933, 0.006781015079468489, 0.0008358521736226976, 0.5621080994606018, -1.1070547103881836, 0.4820534586906433, -0.01955825462937355, 0.0, -0.113131083548069, -0.8488666415214539], "max": [1.0818910598754883, -0.4389500617980957, 0.1982818841934204, 1.5700088739395142, 8.988168701762334e-06, -0.4385024309158325, 0.6488112211227417, 1.2247570753097534, -5.221585524850525e-05, 0.7094376683235168, -0.0024580832105129957, 1.0038256645202637, 1.208998441696167, 0.2190852016210556, 0.20152218639850616, 0.08514827489852905, 1.3347299098968506, 0.21150699257850647, 0.003769358154386282, 0.041246309876441956, 1.228950023651123, 0.13787688314914703, 0.003184683620929718, 0.27206122875213623, 0.06168739125132561, 0.8790189027786255, 0.23301979899406433, 0.05272775515913963, 0.04540605843067169, 1.049084186553955, -0.3600071668624878, 0.9916853308677673, 1.7746400833129883, -0.00276116537861526, 0.13255296647548676, 0.5176694989204407, 1.3264763355255127, 0.0038874465972185135, 0.5282933712005615, 0.3091832399368286, 0.6073088049888611, 1.4651200771331787, 0.13258478045463562, 0.11214043200016022, 0.48461997509002686, 1.4668952226638794, 0.21815374493598938, 1.6533790826797485, 1.2942742109298706, 1.4667375087738037, 0.2102777510881424, 1.6537150144577026, 0.9796879291534424, 0.13783197104930878, 1.4666210412979126, 0.17173735797405243, 1.6534078121185303, 1.3080904483795166, 0.563066840171814, -1.1066712141036987, 0.544083833694458, 0.0, 0.02329733408987522, 0.031925976276397705, -0.5996906161308289], "mean": [1.0191682577133179, -0.5219553112983704, 0.10139413177967072, 1.1432948112487793, -0.6074461340904236, -0.5401116013526917, 0.5726253390312195, 1.1458206176757812, -0.1924287974834442, 0.5395360589027405, -0.30598822236061096, 0.7404870390892029, 1.1502138376235962, 0.1861918717622757, 0.15309154987335205, 0.07956785708665848, 1.2513763904571533, 0.18355552852153778, 0.00369123718701303, 0.025038838386535645, 1.1516138315200806, 0.0913681909441948, 0.003157559549435973, 0.24933943152427673, 0.059921544045209885, 0.7915641069412231, 0.12843669950962067, 0.03078281693160534, 0.027497300878167152, 0.7659910917282104, -0.7017302513122559, 0.584311842918396, 1.4887415170669556, -1.3404349088668823, -0.22640489041805267, -0.13459733128547668, 1.2227520942687988, -0.2462407499551773, 0.20412243902683258, -0.05279599130153656, 0.5497521162033081, 1.2057150602340698, 0.07379421591758728, 0.09849736839532852, 0.4016321897506714, 1.407065510749817, 0.17267048358917236, 1.2549967765808105, 1.1593669652938843, 1.373130440711975, 0.15014664828777313, 1.4056700468063354, 0.8695324063301086, 0.11291185766458511, 1.4194215536117554, 0.12757398188114166, 1.3887734413146973, 1.1019624471664429, 0.5626829266548157, -1.1068531274795532, 0.48709675669670105, -0.015478028915822506, 0.017354169860482216, -0.03952008858323097, -0.7433307766914368], "std": [0.015234441496431828, 0.09195449948310852, 0.03384753689169884, 0.12643885612487793, 0.1964368224143982, 0.045489054173231125, 0.054282113909721375, 0.17746666073799133, 0.031869783997535706, 0.22288937866687775, 0.045244891196489334, 0.120261549949646, 0.17855870723724365, 0.03911658376455307, 0.059851497411727905, 0.012290039099752903, 0.2191997617483139, 0.030798934400081635, 1.786115171853453e-05, 0.010663295164704323, 0.20041996240615845, 0.019351789727807045, 7.352655302383937e-06, 0.05512172728776932, 0.008575908839702606, 0.12794160842895508, 0.03009614534676075, 0.012550604529678822, 0.011994417756795883, 0.1781802773475647, 0.15900065004825592, 0.15238390862941742, 0.12146823108196259, 0.37510496377944946, 0.20571018755435944, 0.1746835857629776, 0.18306177854537964, 0.06445380300283432, 0.24297599494457245, 0.189393550157547, 0.08680449426174164, 0.24331001937389374, 0.026362810283899307, 0.015957986935973167, 0.08301446586847305, 0.20216402411460876, 0.027232788503170013, 0.5139252543449402, 0.2650343179702759, 0.24734434485435486, 0.025696517899632454, 0.5562869310379028, 0.17502446472644806, 0.028782228007912636, 0.18491381406784058, 0.02329747937619686, 0.5820220112800598, 0.45860961079597473, 6.18522972217761e-05, 4.254972009221092e-05, 0.00855372752994299, 0.004185480996966362, 0.004903687629848719, 0.03154348209500313, 0.06496234983205795], "count": [1343]}, "observation.state.joint_torque": {"min": [-52.06050109863281, -14.675999641418457, -26.054000854492188, -11.543000221252441, -0.42080000042915344, -1.9711999893188477, 0.8136000037193298, -1.167824625968933, -0.7348253726959229, -0.9755113124847412, -0.9295318126678467, -0.4167242646217346, -0.3223799765110016, -0.9325992465019226, -0.24239739775657654, -0.04851820319890976, -0.5670433640480042, -0.3713126480579376, -0.0016602561809122562, -0.021405089646577835, -0.5728001594543457, -0.8769503831863403, -0.0033205123618245125, -0.025686107575893402, -0.06245175749063492, -0.471096932888031, -0.3924208879470825, -0.151083305478096, -0.027826614677906036, -10.659000396728516, -2.7899999618530273, -13.11299991607666, -14.814000129699707, -1.823199987411499, -8.663999557495117, -3.427999973297119, -1.4123419523239136, -0.9245809316635132, -1.1196633577346802, -0.6461986303329468, -0.5893909335136414, -0.5516919493675232, -1.2319520711898804, -0.0879935771226883, -0.027113113552331924, -0.4950835406780243, -0.2964744567871094, -0.5445640087127686, -0.0321076326072216, -0.477813184261322, -0.5564892888069153, -0.5545255541801453, -0.032821137458086014, -0.07036817818880081, -0.3693937361240387, -0.8635178208351135, -0.5196601748466492, -0.10702544450759888, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-13.767000198364258, 13.059000015258789, -5.5929999351501465, 2.368000030517578, 1.7151999473571777, 1.5152000188827515, 4.073599815368652, 1.3601274490356445, 1.3601274490356445, 1.5086251497268677, 1.1557012796401978, 0.26896145939826965, 1.3442093133926392, 0.3051096200942993, 0.7388139367103577, 0.15126264095306396, 0.7023277878761292, 0.6370841860771179, 0.0016602561809122562, 0.06064775213599205, 0.6514762043952942, 0.16023053228855133, -0.0, 0.021405089646577835, 0.04925772175192833, 0.41352906823158264, 0.3905019462108612, 0.08301279693841934, 0.014983562752604485, 47.695499420166016, 18.271499633789062, 28.111000061035156, 4.13100004196167, 1.5535999536514282, 2.9191999435424805, 0.36800000071525574, 1.9905234575271606, 3.4920125007629395, 1.8143266439437866, 1.0388885736465454, 0.4150640070438385, 2.0494155883789062, 0.4806915521621704, 0.9596279859542847, 0.21405088901519775, 0.6697059869766235, 0.3482855260372162, 0.6026729345321655, 0.03068062849342823, 0.5958272814750671, 0.7090440392494202, 0.7753396034240723, 0.02996712550520897, 0.4521155059337616, 0.5718407034873962, 0.36075857281684875, 0.4051024913787842, 0.08776086568832397, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-31.697185516357422, 0.5296348929405212, -14.048080444335938, -4.862133979797363, 0.201144739985466, 0.7333973050117493, 1.6936825513839722, -0.04107246920466423, 0.1572941541671753, 0.37796714901924133, 0.22318345308303833, 0.03092179074883461, 0.29569411277770996, -0.1444532871246338, 0.1996462196111679, 0.05873358994722366, 0.014135491102933884, 0.1563418060541153, -4.944917691318551e-06, 0.004777757916599512, -0.013456087559461594, -0.0791713148355484, -2.4724588456592755e-06, -0.0008686358341947198, -0.0006549534155055881, 0.011339225806295872, 0.009756111539900303, 0.00024107030185405165, 0.0016272953944280744, 26.685611724853516, 4.755457878112793, 13.68946361541748, -8.108232498168945, -0.5839133858680725, 1.2182613611221313, -1.115461826324463, 0.027823232114315033, 0.49432700872421265, 0.12081285566091537, 0.03647475317120552, 0.03214195370674133, 0.33576735854148865, -0.1204531192779541, 0.13841168582439423, 0.03473629802465439, 0.01367539819329977, -0.0010016205487772822, 0.00017553310317452997, 0.0020071594044566154, 0.014484099112451077, 0.05571181699633598, 0.0017331944545730948, 0.00025023342459462583, 0.10504870861768723, 0.0021996942814439535, -0.0707181841135025, 0.0027394862845540047, 0.0006502817268483341, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.8807460069656372, 1.5996140241622925, 1.026350498199463, 0.917956531047821, 0.3251173794269562, 0.4038088619709015, 0.34673094749450684, 0.32882755994796753, 0.28873565793037415, 0.4306620955467224, 0.2708872854709625, 0.05721603333950043, 0.26516130566596985, 0.1904926747083664, 0.15435560047626495, 0.035959333181381226, 0.21021156013011932, 0.1526012122631073, 0.00014317843306344002, 0.010367578826844692, 0.13876298069953918, 0.15528489649295807, 9.057439456228167e-05, 0.0062981885857880116, 0.006801982875913382, 0.0871918797492981, 0.07669331133365631, 0.016198018565773964, 0.007560110185295343, 5.266575813293457, 2.974546194076538, 3.2340495586395264, 2.2665603160858154, 0.35743656754493713, 1.058766484260559, 0.6048683524131775, 0.4003904163837433, 0.8572145104408264, 0.29795846343040466, 0.2915661931037903, 0.09662401676177979, 0.5376558303833008, 0.3034881353378296, 0.23509438335895538, 0.05279012769460678, 0.07407698780298233, 0.05449771136045456, 0.0458429753780365, 0.006375465542078018, 0.10180986672639847, 0.1608777791261673, 0.029506327584385872, 0.008367421105504036, 0.10398335754871368, 0.07366868853569031, 0.1517530381679535, 0.029590021818876266, 0.006750218570232391, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1343]}, "observation.state.tcp": {"min": [0.3614683449268341, 0.13720373809337616, 1.0468356609344482, -1.2089550495147705, 0.9514128565788269, -1.4597845077514648, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2807464897632599, -0.2956010401248932, 0.9980984926223755, -0.2126200795173645, 0.8659343719482422, 0.1265115886926651, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.41781139373779297, 0.23602981865406036, 1.1526485681533813, -0.32991066575050354, 1.3635125160217285, -1.2289170026779175, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.42723140120506287, -0.09503264725208282, 1.2568854093551636, 1.2061821222305298, 2.074204921722412, 1.393858790397644, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.40469494462013245, 0.1626143753528595, 1.077572226524353, -0.5174379944801331, 1.1638538837432861, -1.306084394454956, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3722464144229889, -0.19313152134418488, 1.1273387670516968, 0.3405023217201233, 1.5143554210662842, 0.8520512580871582, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.011616349220275879, 0.02250637672841549, 0.01900947280228138, 0.23688118159770966, 0.05986883118748665, 0.035787418484687805, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04525620490312576, 0.05743519216775894, 0.07940232008695602, 0.3555513620376587, 0.3018508553504944, 0.3492935597896576, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1343]}, "action": {"min": [0.9886656999588013, -0.7799999713897705, -5.911559157763826e-18, 1.043151617050171, -0.7372807860374451, -0.7699999809265137, 0.4303802251815796, 0.0, -0.24906927347183228, -0.2473246306180954, -0.3490658402442932, 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, 0.36068275570869446, -1.048578143119812, 0.0038229860365390778, 1.2748725414276123, -1.8674583435058594, -0.7665473222732544, -0.4169423580169678, 0.0, -0.3490658402442932, -0.148184671998024, -0.27879029512405396, 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, 0.5626833438873291, -1.1069231033325195, 0.4813455641269684, -0.020126305520534515, -7.042933165836545e-19, -0.11346395313739777, -0.8490849733352661], "max": [1.0820673704147339, -0.43893134593963623, 0.19835634529590607, 1.5700000524520874, 1.1516671059633906e-17, -0.43805408477783203, 0.6489355564117432, 1.2275680303573608, 0.0, 0.7140595316886902, 0.0, 1.0095800161361694, 1.2154791355133057, 0.21716493368148804, 0.2079341560602188, 0.08617129921913147, 1.34048593044281, 0.21150821447372437, 0.0, 0.043555427342653275, 1.2362916469573975, 0.1384524703025818, 0.0, 0.27388277649879456, 0.08882705867290497, 0.8882705569267273, 0.2327921986579895, 0.0569106824696064, 0.049240779131650925, 1.0481332540512085, -0.35993489623069763, 0.9918967485427856, 1.7748044729232788, -0.006823711562901735, 0.1327795684337616, 0.514360249042511, 1.331974983215332, 0.0, 0.5380799770355225, 0.3490658402442932, 0.6140716075897217, 1.540930151939392, 0.13720625638961792, 0.11523445695638657, 0.4860803782939911, 1.5707963705062866, 0.21716493368148804, 1.7453292608261108, 1.2980353832244873, 1.5707963705062866, 0.21045368909835815, 1.7453292608261108, 0.9826583862304688, 0.15087658166885376, 1.5707963705062866, 0.17862361669540405, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.5442397594451904, -1.2202496018078666e-18, 0.023999668657779694, 0.031985048204660416, -0.6000000238418579], "mean": [1.0191720724105835, -0.5220388770103455, 0.10138105601072311, 1.1434180736541748, -0.6074774861335754, -0.5401219129562378, 0.572780430316925, 1.143851399421692, -0.18939775228500366, 0.5448548197746277, -0.33917927742004395, 0.7443369626998901, 1.1552455425262451, 0.1862841099500656, 0.15661212801933289, 0.0821528509259224, 1.251502275466919, 0.18598811328411102, 0.0, 0.02758108824491501, 1.1516221761703491, 0.09245631843805313, 0.0, 0.25027555227279663, 0.07938778400421143, 0.7938788533210754, 0.131350576877594, 0.035230450332164764, 0.03010130487382412, 0.7661687135696411, -0.7025538086891174, 0.5843181610107422, 1.4888596534729004, -1.3398970365524292, -0.2259773313999176, -0.13481193780899048, 1.223241925239563, -0.2505588233470917, 0.20542411506175995, -0.05298697575926781, 0.5507861375808716, 1.2155667543411255, 0.07277553528547287, 0.10087799280881882, 0.4040053188800812, 1.4954520463943481, 0.17194953560829163, 1.2570620775222778, 1.160091757774353, 1.4586254358291626, 0.1508001685142517, 1.480988621711731, 0.8708872199058533, 0.12869426608085632, 1.5079607963562012, 0.12778109312057495, 1.4626126289367676, 1.1742881536483765, 0.5626831650733948, -1.1068545579910278, 0.48715412616729736, -0.01551935262978077, 0.017389731481671333, -0.039533086121082306, -0.7433318495750427], "std": [0.015230503864586353, 0.09206926077604294, 0.03390134871006012, 0.1266472190618515, 0.19651085138320923, 0.04554452374577522, 0.05415823310613632, 0.19423110783100128, 0.034937456250190735, 0.22607938945293427, 0.05712180584669113, 0.1376403272151947, 0.19731982052326202, 0.03999321907758713, 0.06274991482496262, 0.013955751433968544, 0.2319670021533966, 0.03428742662072182, 0.0, 0.012087089009582996, 0.21243807673454285, 0.020538710057735443, 0.0, 0.0565488263964653, 0.013939790427684784, 0.13939790427684784, 0.03194361925125122, 0.014287111349403858, 0.012426534667611122, 0.17832143604755402, 0.15945056080818176, 0.15259157121181488, 0.12167534232139587, 0.3753347396850586, 0.20621465146541595, 0.17459802329540253, 0.20324577391147614, 0.07758645713329315, 0.24439765512943268, 0.1923186331987381, 0.09754253923892975, 0.2625311315059662, 0.026783498004078865, 0.01808682456612587, 0.08973557502031326, 0.24744632840156555, 0.030846983194351196, 0.5144627690315247, 0.2739097774028778, 0.292241632938385, 0.029302071779966354, 0.5916590094566345, 0.1827983409166336, 0.03243831917643547, 0.23207998275756836, 0.025796331465244293, 0.6143887042999268, 0.49033260345458984, 1.8036060112081032e-07, 1.3033979485044256e-05, 0.008950794115662575, 0.004244414158165455, 0.004989796318113804, 0.03159557282924652, 0.06510902941226959], "count": [1343]}, "observation.state.tcp_pose": {"min": [0.3614683449268341, 0.13720373809337616, 1.0468356609344482, -1.2089550495147705, 0.9514128565788269, -1.4597845077514648, 0.2807464897632599, -0.2956010401248932, 0.9980984926223755, -0.2126200795173645, 0.8659343719482422, 0.1265115886926651], "max": [0.41781139373779297, 0.23602981865406036, 1.1526485681533813, -0.32991066575050354, 1.3635125160217285, -1.2289170026779175, 0.42723140120506287, -0.09503264725208282, 1.2568854093551636, 1.2061821222305298, 2.074204921722412, 1.393858790397644], "mean": [0.40469494462013245, 0.1626143753528595, 1.077572226524353, -0.5174379944801331, 1.1638538837432861, -1.306084394454956, 0.3722464144229889, -0.19313152134418488, 1.1273387670516968, 0.3405023217201233, 1.5143554210662842, 0.8520512580871582], "std": [0.011616349220275879, 0.02250637672841549, 0.01900947280228138, 0.23688118159770966, 0.05986883118748665, 0.035787418484687805, 0.04525620490312576, 0.05743519216775894, 0.07940232008695602, 0.3555513620376587, 0.3018508553504944, 0.3492935597896576], "count": [1343]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.13755559921264648, 1.0466301441192627, -1.208855390548706, 0.9508225321769714, -1.4595797061920166, 0.2807125449180603, -0.29487642645835876, 0.9981842637062073, -0.21452027559280396, 0.8594653606414795, 0.12640292942523956], "max": [0.4180796444416046, 0.23587769269943237, 1.1525635719299316, -0.33052533864974976, 1.3638105392456055, -1.2289544343948364, 0.4282231628894806, -0.09501377493143082, 1.2571756839752197, 1.2041593790054321, 2.074155807495117, 1.3992332220077515], "mean": [0.4046861231327057, 0.16264291107654572, 1.0775554180145264, -0.517352819442749, 1.163769245147705, -1.3061572313308716, 0.37221959233283997, -0.1934179961681366, 1.1274261474609375, 0.3406556248664856, 1.5149768590927124, 0.851405143737793], "std": [0.011688489466905594, 0.022480737417936325, 0.018969573080539703, 0.2365746945142746, 0.05969050154089928, 0.03586077690124512, 0.04538213834166527, 0.057734400033950806, 0.07965533435344696, 0.3557261526584625, 0.3017819821834564, 0.34942328929901123], "count": [1343]}, "subtask_index": {"min": [0], "max": [21], "mean": [10.049143708116159], "std": [7.114045785802211], "count": [1343]}, "observation.tactile": {"min": [-8.585529327392578, -0.007171630859375, -0.001953125, -0.21677207946777344, -0.0353846549987793, -0.1722705364227295, -0.2132129669189453, -0.002410888671875, -0.00238037109375, -0.18241214752197266, -0.007676601409912109, -0.003142118453979492, -0.31427001953125, -0.01751708984375, -0.0025634765625, -0.16794109344482422, -0.01587533950805664, -0.011514425277709961, -0.02188873291015625, -0.011749267578125, -0.00604248046875, -0.0003147125244140625, -0.0009427070617675781, -0.00040221214294433594, -0.00213623046875, -0.0024566650390625, -0.00347900390625, 0.0, -0.0013937950134277344, -0.0003211498260498047, -0.16318130493164062, -0.0194091796875, -0.00433349609375, -0.3526163101196289, -0.02827310562133789, -0.01942157745361328, -6.419769287109375, -0.006103515625, 0.0, -0.1936655044555664, -0.0417780876159668, -0.1434617042541504, -0.029363632202148438, -0.00341796875, -0.0067138671875, -0.0001735687255859375, -0.0011105537414550781, -0.00042319297790527344, -0.0309295654296875, -0.009735107421875, -0.014404296875, -0.010430335998535156, -0.0013437271118164062, -0.0006628036499023438, -0.02019500732421875, -0.00439453125, -0.00762939453125, -0.000217437744140625, -0.0013937950134277344, -0.0005092620849609375], "max": [0.037212371826171875, 11.34906005859375, 8.1434326171875, 0.0013189315795898438, 0.0012459754943847656, 0.001024484634399414, 5.048749923706055, 4.633880615234375, 14.3590087890625, 0.0024785995483398438, 0.008936405181884766, 0.08175206184387207, 5.62786865234375, 6.8389892578125, 11.22955322265625, 0.0010833740234375, 0.005483150482177734, 0.09654068946838379, 0.01410675048828125, 0.0036163330078125, 0.0064697265625, 0.0009326934814453125, 0.00018548965454101562, 4.76837158203125e-06, 0.016399383544921875, 0.0128173828125, 0.0045166015625, 0.0013561248779296875, 0.00010728836059570312, 2.7179718017578125e-05, 11.83706283569336, 17.62554931640625, 13.3052978515625, 0.001506805419921875, 0.08018636703491211, 0.22351360321044922, 1.296051025390625, 16.7586669921875, 9.27667236328125, 0.0012226104736328125, 0.008347034454345703, 0.02804708480834961, 0.008962631225585938, 0.015594482421875, 0.03485107421875, 0.0012664794921875, 0.0006842613220214844, 0.00012302398681640625, 1.1499481201171875, 0.315582275390625, 0.25665283203125, 0.00140380859375, 0.0004496574401855469, 0.01655101776123047, 0.6138839721679688, 0.22686767578125, 0.0238037109375, 0.0024900436401367188, 0.0029234886169433594, 0.01605844497680664], "mean": [-4.520751953125, 4.8559250831604, 3.498826742172241, -0.08595950901508331, -0.009691186249256134, -0.10138121247291565, 1.5349689722061157, 1.4147344827651978, 5.872474670410156, -0.08107506483793259, 0.0019335719989612699, 0.024944894015789032, 0.42376255989074707, 0.5181688666343689, 1.0766359567642212, -0.01747952774167061, -0.00032072499743662775, 0.007037188392132521, -0.0014053154736757278, -0.003208799520507455, 0.00026704586343839765, 7.777239079587162e-05, -5.0263181037735194e-05, -0.00015944095503073186, 0.0016696401871740818, 0.004315487574785948, -0.00036521110450848937, 0.0007022238569334149, -0.0005195430130697787, -0.00013895986194256693, 1.5989720821380615, 2.54814076423645, 2.6330018043518066, -0.06239119917154312, 0.00026775046717375517, 0.030537813901901245, -0.9081544280052185, 1.3855297565460205, 1.9594688415527344, -0.038340192288160324, -0.004117241129279137, -0.017065422609448433, -0.0008981098071672022, 0.0020978846587240696, -0.0006295755738392472, 0.00046771796769462526, -0.00033316254848614335, -0.00012612440332304686, 0.0072676134295761585, 0.0019136997871100903, -0.004552504513412714, 0.0006296437350101769, -0.0005767162656411529, -0.00027693266747519374, 0.004463692661374807, 0.0016463813371956348, 0.0006977004813961685, 0.0005661892937496305, -0.0004563132824841887, -0.0001493224553996697], "std": [2.2692558765411377, 2.709508180618286, 1.9480425119400024, 0.05030536651611328, 0.007999136112630367, 0.04895840957760811, 0.8036010265350342, 0.7320963144302368, 3.0265583992004395, 0.039547961205244064, 0.002993503585457802, 0.01353808306157589, 0.5855257511138916, 0.7842916250228882, 1.2821109294891357, 0.019832029938697815, 0.0021912711672484875, 0.010188336484134197, 0.004376872908324003, 0.0018270163564011455, 0.001774476608261466, 0.0001238518743775785, 0.0001071236765710637, 6.252183811739087e-05, 0.0014151420909911394, 0.00142089300788939, 0.0010721487924456596, 0.00014096422819420695, 0.0001386335352435708, 4.62483185401652e-05, 2.202100992202759, 4.201246738433838, 3.7493062019348145, 0.08899341523647308, 0.011448564007878304, 0.042950425297021866, 1.6348984241485596, 2.3048346042633057, 2.7321224212646484, 0.054470304399728775, 0.006927944254130125, 0.031908608973026276, 0.005334528628736734, 0.0016534014139324427, 0.0020511976908892393, 0.00025084137450903654, 0.00023029130534268916, 8.078709652181715e-05, 0.042508628219366074, 0.011354440823197365, 0.009625701233744621, 0.0004385088395792991, 0.0002977594267576933, 0.000605921377427876, 0.02825230173766613, 0.008550424128770828, 0.0019495286978781223, 0.0002890449541155249, 0.00031474349088966846, 0.0007528642890974879], "count": [1343]}, "timestamp": {"min": [0.0], "max": [44.733333333333334], "mean": [22.366666666666664], "std": [12.923019942894326], "count": [1343]}, "frame_index": {"min": [0], "max": [1342], "mean": [671.0], "std": [387.69059828682975], "count": [1343]}, "episode_index": {"min": [55], "max": [55], "mean": [55.0], "std": [0.0], "count": [1343]}, "index": {"min": [85862], "max": [87204], "mean": [86533.0], "std": [387.69059828682975], "count": [1343]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1343]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3384672701358795]], [[0.3378501832485199]], [[0.3378499746322632]]], "std": [[[0.21562989056110382]], [[0.21562056243419647]], [[0.21568064391613007]]], "count": [1343]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3010963797569275]], [[0.3024410009384155]], [[0.2994820177555084]]], "std": [[[0.16713947057724]], [[0.16903474926948547]], [[0.16843155026435852]]], "count": [1343]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30965185165405273]], [[0.30772891640663147]], [[0.3047521710395813]]], "std": [[[0.17608870565891266]], [[0.17615686357021332]], [[0.17394907772541046]]], "count": [1343]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33836233615875244]], [[0.3377383351325989]], [[0.33784857392311096]]], "std": [[[0.21710436046123505]], [[0.21716918051242828]], [[0.21730735898017883]]], "count": [1343]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.729411780834198]], [[0.729411780834198]], [[0.729411780834198]]], "mean": [[[0.008846178650856018]], [[0.008846178650856018]], [[0.008846178650856018]]], "std": [[[0.06367038935422897]], [[0.06367038935422897]], [[0.06367038935422897]]], "count": [1343]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[0.9843137264251709]], [[0.9843137264251709]], [[0.9843137264251709]]], "mean": [[[0.4733436703681946]], [[0.4733436703681946]], [[0.4733436703681946]]], "std": [[[0.15250909328460693]], [[0.15250909328460693]], [[0.15250909328460693]]], "count": [1343]}}}
+{"episode_index": 56, "stats": {"observation.state": {"min": [0.9929768443107605, -0.7800092697143555, -9.347694685857277e-06, 1.0451350212097168, -0.7850371599197388, -0.7700126767158508, 0.38165777921676636, 0.0076782312244176865, -0.2566874623298645, -0.20186661183834076, -0.318502277135849, 0.002453574910759926, 0.0032531116157770157, -0.00014179153367877007, 0.0034034489654004574, 0.0008274271385744214, 0.003916195593774319, -0.0005889993044547737, 0.003677526256069541, 0.0008513719658367336, 0.003247714601457119, -0.00015332119073718786, 0.003133981255814433, 0.0008633443503640592, 0.0059746853075921535, 0.0032592446077615023, 9.199282067129388e-05, 0.005859506316483021, 0.0008699956815689802, 0.37629467248916626, -0.9703552722930908, 0.0014141385909169912, 1.2158312797546387, -1.6836543083190918, -0.7689066529273987, -0.3983530104160309, 0.006376995239406824, -0.31873536109924316, -0.16029872000217438, -0.2888302505016327, 0.006905111949890852, 0.003186876652762294, 7.065080717438832e-05, 0.0034974082373082638, 0.0008793076267465949, 0.0032175409141927958, -2.060644510493148e-05, 0.0034133768640458584, 0.0009923804318532348, 0.0032999664545059204, -0.00015847317990846932, 0.003508045105263591, 0.0008952707867138088, 0.01041341945528984, 0.0032881915103644133, -0.0003041895979549736, 0.006785624194890261, 0.0008646746282465756, 0.5621080994606018, -1.1070547103881836, 0.47093209624290466, -0.022913837805390358, 0.0, -0.1318264752626419, -0.8729309439659119], "max": [1.0969661474227905, -0.4388371407985687, 0.19365908205509186, 1.5700037479400635, 1.1624698345258366e-05, -0.4793045222759247, 0.6348599791526794, 1.2171263694763184, -6.14300588495098e-05, 0.7173374891281128, -0.0023777757305651903, 0.9769423007965088, 1.2611322402954102, 0.24110408127307892, 0.24658429622650146, 0.08555401116609573, 1.3652002811431885, 0.22216635942459106, 0.041710421442985535, 0.059206269681453705, 1.196906328201294, 0.1329416185617447, 0.003198511665686965, 0.258191853761673, 0.06167561933398247, 0.8700237274169922, 0.19997814297676086, 0.03982450067996979, 0.03611147403717041, 1.049218773841858, -0.36281707882881165, 0.877016007900238, 1.8282568454742432, -0.002160156611353159, 0.13960207998752594, 0.5179519653320312, 1.3243807554244995, 0.0012385407462716103, 0.5766488909721375, 0.31458672881126404, 0.6337254643440247, 1.4600894451141357, 0.10909543186426163, 0.11203549057245255, 0.49404048919677734, 1.4668583869934082, 0.20538167655467987, 1.6533766984939575, 1.2434110641479492, 1.46696937084198, 0.22377924621105194, 1.6537039279937744, 0.9844413995742798, 0.13923628628253937, 1.4668513536453247, 0.17173512279987335, 1.6534340381622314, 1.3080629110336304, 0.5629709362983704, -1.106767177581787, 0.5439879298210144, 9.58738019107841e-05, 0.02329733408987522, 0.037103161215782166, -0.5997864603996277], "mean": [1.0357993841171265, -0.5063951015472412, 0.09414114058017731, 1.1334917545318604, -0.6478416919708252, -0.6118637323379517, 0.5124146342277527, 1.1410870552062988, -0.20604948699474335, 0.5911613702774048, -0.30712127685546875, 0.7326864004135132, 1.194200038909912, 0.21159884333610535, 0.1611885130405426, 0.07956551760435104, 1.2833625078201294, 0.20355020463466644, 0.005225264932960272, 0.047375548630952835, 1.128987193107605, 0.11322733759880066, 0.0031553423032164574, 0.23516303300857544, 0.059924036264419556, 0.8102306723594666, 0.16079522669315338, 0.022202888503670692, 0.019930358976125717, 0.8028562664985657, -0.7044684290885925, 0.5048034191131592, 1.457196831703186, -1.228088617324829, -0.29807689785957336, -0.11364106088876724, 1.2282259464263916, -0.2472076416015625, 0.24408993124961853, -0.10475410521030426, 0.5646578073501587, 1.2080987691879272, 0.07162529975175858, 0.09844538569450378, 0.40365877747535706, 1.3861507177352905, 0.1692093014717102, 1.3994749784469604, 1.0934383869171143, 1.3357446193695068, 0.1479819416999817, 1.4230657815933228, 0.8622385263442993, 0.11259739845991135, 1.4208035469055176, 0.12137266248464584, 1.389495611190796, 1.1045479774475098, 0.5626822113990784, -1.1068545579910278, 0.48193633556365967, -0.015602301806211472, 0.01664838381111622, -0.041573416441679, -0.7565109729766846], "std": [0.017253438010811806, 0.0830678716301918, 0.031280096620321274, 0.11312797665596008, 0.20614854991436005, 0.04649225249886513, 0.03569623455405235, 0.1726725846529007, 0.03135766088962555, 0.23019252717494965, 0.043867871165275574, 0.11541583389043808, 0.18886874616146088, 0.04530221223831177, 0.05815168470144272, 0.012077904306352139, 0.22602829337120056, 0.034503720700740814, 0.00544951856136322, 0.01711590215563774, 0.19223152101039886, 0.020855877548456192, 7.191565600805916e-06, 0.04947831854224205, 0.008439701981842518, 0.13126377761363983, 0.02523411624133587, 0.0093312356621027, 0.009338629432022572, 0.16949163377285004, 0.16314661502838135, 0.15754981338977814, 0.1538657397031784, 0.37304946780204773, 0.1796388328075409, 0.1583673506975174, 0.17819960415363312, 0.05979658663272858, 0.2355836033821106, 0.1332884281873703, 0.08314383029937744, 0.24444732069969177, 0.023067573085427284, 0.016076553612947464, 0.08369680494070053, 0.20873256027698517, 0.026642486453056335, 0.5592044591903687, 0.22041472792625427, 0.26399677991867065, 0.029902556911110878, 0.5336316227912903, 0.16734668612480164, 0.02809937298297882, 0.18398818373680115, 0.02817744016647339, 0.572333037853241, 0.4512611925601959, 6.0537891840795055e-05, 3.72345166397281e-05, 0.009229205548763275, 0.007988689467310905, 0.0039659966714680195, 0.03481731191277504, 0.07877145707607269], "count": [1316]}, "observation.state.joint_torque": {"min": [-41.23350143432617, -11.986499786376953, -20.827999114990234, -12.593000411987305, -0.23919999599456787, -1.3447999954223633, 0.5407999753952026, -1.3461185693740845, -0.8991103768348694, -1.0401313304901123, -0.8860376477241516, -0.4034422039985657, -0.3597991168498993, -0.9028558731079102, -0.27892303466796875, -0.046377696096897125, -0.47205641865730286, -0.3761099576950073, -0.0879935771226883, -0.020691584795713425, -0.6035029888153076, -1.092829704284668, -0.0016602561809122562, -0.027826614677906036, -0.08180300146341324, -0.3857046067714691, -0.4020155072212219, -0.11123716086149216, -0.028540121391415596, 14.619000434875488, -2.6475000381469727, 5.052999973297119, -14.548999786376953, -1.8264000415802002, -2.217600107192993, -2.939199924468994, -1.4492741823196411, -0.9640603065490723, -1.4477334022521973, -1.0289469957351685, -0.12451920658349991, -0.48357000946998596, -1.2194790840148926, -0.09131408482789993, -0.027826614677906036, -0.4116101562976837, -0.3079879879951477, -0.2839037775993347, -0.03139413148164749, -0.5699217319488525, -0.5094755291938782, -0.31544867157936096, -0.03424813970923424, -0.08708061277866364, -0.38474518060684204, -0.7464631199836731, -0.24239739775657654, -0.04923170804977417, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-19.54800033569336, 18.316499710083008, -9.015000343322754, 2.490000009536743, 1.7968000173568726, 1.6632000207901, 5.062399864196777, 1.8962825536727905, 3.2767865657806396, 1.7360373735427856, 1.3184934854507446, 0.3171089291572571, 1.9246852397918701, 0.8251392245292664, 0.9048395156860352, 0.14769510924816132, 0.6178949475288391, 0.8788692355155945, 0.05478844791650772, 0.04352368041872978, 0.5545703172683716, 0.14871695637702942, 0.0016602561809122562, 0.02425910159945488, 0.05849354341626167, 0.4125696122646332, 0.27824464440345764, 0.08467306196689606, 0.014270060695707798, 41.89649963378906, 13.636500358581543, 26.725000381469727, 1.0069999694824219, 0.05999999865889549, 3.887200117111206, 0.5648000240325928, 2.4146082401275635, 3.7327091693878174, 1.8652770519256592, 1.1010229587554932, 0.5595062971115112, 2.1338484287261963, 0.5008403658866882, 1.054262638092041, 0.21405088901519775, 0.43463730812072754, 0.3242989182472229, 0.7686985731124878, 0.04709119349718094, 0.46534013748168945, 0.9469912648200989, 0.27062171697616577, 0.038529157638549805, 0.42660707235336304, 0.3550017774105072, 0.35116392374038696, 0.3254101872444153, 0.0642152652144432, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-32.17531204223633, 0.20462921261787415, -14.106133460998535, -4.749547481536865, 0.30509063601493835, 0.8482547998428345, 1.7160358428955078, 0.24754059314727783, 0.7969415783882141, 0.3819659650325775, 0.3180861473083496, 0.08440680801868439, 0.7727164626121521, -0.06910547614097595, 0.35475850105285645, 0.07050888240337372, -0.001879533170722425, 0.16874344646930695, -0.0016173624899238348, 0.0027065423782914877, 0.0019502565264701843, -0.09471818804740906, 0.0, -0.0005161514854989946, -0.0005644562770612538, 0.007968038320541382, 0.0027901737485080957, 0.0009979169117286801, 0.001492611481808126, 27.17106819152832, 4.559074878692627, 13.90185260772705, -7.654972076416016, -0.689932644367218, 1.1079275608062744, -1.1779265403747559, 0.18225853145122528, 0.597939670085907, 0.2052939534187317, 0.013304139487445354, 0.06673573702573776, 0.4504692256450653, -0.20048651099205017, 0.1893763393163681, 0.048939429223537445, 0.012954936362802982, -0.0013072495348751545, 0.005023677367717028, 0.0010697039542719722, 0.006727914325892925, 0.05929715558886528, 0.001444525201804936, -0.0008598899585194886, 0.12260754406452179, -0.012577314861118793, -0.10884325206279755, -0.0003431534278206527, 0.00027650955598801374, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.8828023672103882, 1.8549482822418213, 0.9671939611434937, 1.2345685958862305, 0.3012849986553192, 0.42995116114616394, 0.4902398884296417, 0.6785610318183899, 0.6979275345802307, 0.4756411612033844, 0.3384231626987457, 0.08048561215400696, 0.4653650224208832, 0.2970687747001648, 0.21753226220607758, 0.03833704814314842, 0.18381991982460022, 0.18553277850151062, 0.0066672866232693195, 0.007288598455488682, 0.1318313032388687, 0.1766563206911087, 9.153288556262851e-05, 0.00721881166100502, 0.0074245510622859, 0.08231300115585327, 0.061673060059547424, 0.0159809198230505, 0.00749371200799942, 4.126850128173828, 2.895432472229004, 2.0636699199676514, 2.2191710472106934, 0.2633258104324341, 0.7309538125991821, 0.643892228603363, 0.6000744700431824, 0.9400013089179993, 0.3733401894569397, 0.3235481381416321, 0.11844868957996368, 0.6382154822349548, 0.32024243474006653, 0.2775683104991913, 0.06896519660949707, 0.0976589098572731, 0.06330910325050354, 0.03408635035157204, 0.006211365573108196, 0.14293524622917175, 0.17298689484596252, 0.02032940834760666, 0.008654124103486538, 0.10568654537200928, 0.09487060457468033, 0.19244542717933655, 0.027398845180869102, 0.0052094850689172745, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1316]}, "observation.state.tcp": {"min": [0.3615363836288452, 0.12957799434661865, 1.0500950813293457, -1.2089297771453857, 0.9657372236251831, -1.4338393211364746, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.269258588552475, -0.3090580403804779, 0.9890510439872742, -0.12957479059696198, 0.9394997954368591, 0.13951575756072998, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.417532354593277, 0.23460809886455536, 1.14811110496521, -0.3177403211593628, 1.3769416809082031, -1.157187819480896, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4404858350753784, -0.10367807000875473, 1.2575489282608032, 1.2084851264953613, 2.113224744796753, 1.5702462196350098, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.40851670503616333, 0.1598576307296753, 1.0856701135635376, -0.5117838382720947, 1.1474950313568115, -1.2212741374969482, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.37236830592155457, -0.19364985823631287, 1.1184629201889038, 0.4236364960670471, 1.5079691410064697, 0.8927532434463501, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.012444277293980122, 0.020198635756969452, 0.018668117001652718, 0.22672033309936523, 0.06086800992488861, 0.06385470181703568, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.051328692585229874, 0.061770737171173096, 0.08093100041151047, 0.36467573046684265, 0.2978990375995636, 0.3613363206386566, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1316]}, "action": {"min": [0.9929801225662231, -0.7799999713897705, 1.763416096679587e-18, 1.0451362133026123, -0.7850266695022583, -0.7699999809265137, 0.38159888982772827, 0.0, -0.2552052140235901, -0.20672199130058289, -0.3490658402442932, 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, 0.37631040811538696, -0.9705069661140442, 0.005314992740750313, 1.2157127857208252, -1.6836655139923096, -0.7661131620407104, -0.39837324619293213, 0.0, -0.3490658402442932, -0.16831816732883453, -0.2904868721961975, 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, 0.5625876188278198, -1.1069231033325195, 0.4705786406993866, -0.02326955832540989, -3.243202507867551e-18, -0.13215334713459015, -0.8726646304130554], "max": [1.097004771232605, -0.43882107734680176, 0.19360092282295227, 1.5700000524520874, 1.2717556156506753e-17, -0.4780110716819763, 0.6353423595428467, 1.225746512413025, 0.0, 0.7260821461677551, 0.0, 0.9858511686325073, 1.2703031301498413, 0.23825734853744507, 0.2535616159439087, 0.08812723308801651, 1.36815345287323, 0.22329124808311462, 0.04774180427193642, 0.06053469330072403, 1.2008832693099976, 0.13078254461288452, 0.0, 0.26333674788475037, 0.08806006610393524, 0.8806007504463196, 0.20067447423934937, 0.046843864023685455, 0.04084217548370361, 1.0483449697494507, -0.3627920150756836, 0.8771292567253113, 1.8283700942993164, -0.007689316291362047, 0.13962505757808685, 0.5143031477928162, 1.3280439376831055, 0.0, 0.5794974565505981, 0.3490658402442932, 0.6390945911407471, 1.5466363430023193, 0.10930698364973068, 0.11697755008935928, 0.49643442034721375, 1.5707963705062866, 0.20546811819076538, 1.7453292608261108, 1.2452569007873535, 1.5707963705062866, 0.22464293241500854, 1.7453292608261108, 0.9863977432250977, 0.15628387033939362, 1.5707963705062866, 0.17699378728866577, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.5442397594451904, 4.188239604070807e-21, 0.02530743181705475, 0.03806115686893463, -0.6000000238418579], "mean": [1.035814642906189, -0.5064167380332947, 0.09413188695907593, 1.1336792707443237, -0.6478855013847351, -0.6118976473808289, 0.5125060081481934, 1.1404569149017334, -0.19958312809467316, 0.596139132976532, -0.3397785425186157, 0.7368781566619873, 1.2002328634262085, 0.21115820109844208, 0.16477227210998535, 0.08329445123672485, 1.2844175100326538, 0.2077631801366806, 0.001920390990562737, 0.049981631338596344, 1.1298823356628418, 0.11648283898830414, 0.0, 0.23679621517658234, 0.08148505538702011, 0.8148499727249146, 0.16098545491695404, 0.02684594877064228, 0.022572152316570282, 0.8031599521636963, -0.7050213813781738, 0.5047439336776733, 1.4574315547943115, -1.2269154787063599, -0.2988261580467224, -0.11353122442960739, 1.2298569679260254, -0.24991315603256226, 0.24578922986984253, -0.10528793185949326, 0.5666733980178833, 1.2169625759124756, 0.07030905038118362, 0.10067394375801086, 0.40659546852111816, 1.4626411199569702, 0.17000848054885864, 1.4699939489364624, 1.094353199005127, 1.4116050004959106, 0.1483031064271927, 1.4981012344360352, 0.8635655641555786, 0.12647944688796997, 1.510334849357605, 0.12112416326999664, 1.455227017402649, 1.1759452819824219, 0.5626826286315918, -1.1068551540374756, 0.48198744654655457, -0.015650052577257156, 0.016686514019966125, -0.04162086173892021, -0.7565649151802063], "std": [0.017278239130973816, 0.08321283012628555, 0.031293947249650955, 0.11355751007795334, 0.20617209374904633, 0.04656662791967392, 0.03568600118160248, 0.19058094918727875, 0.03440018743276596, 0.2322496920824051, 0.05616426467895508, 0.13439644873142242, 0.20704907178878784, 0.04603692889213562, 0.0604877695441246, 0.013970556668937206, 0.23889979720115662, 0.03802885115146637, 0.006524935830384493, 0.018580274656414986, 0.2048085331916809, 0.023068344220519066, 0.0, 0.05041243135929108, 0.014319956302642822, 0.1431995928287506, 0.02890915237367153, 0.010820725932717323, 0.010073923505842686, 0.1692882925271988, 0.16325591504573822, 0.15755538642406464, 0.1540711522102356, 0.373733788728714, 0.1797333061695099, 0.15840144455432892, 0.19876258075237274, 0.07223889231681824, 0.2360878884792328, 0.1367344707250595, 0.09596750885248184, 0.26335760951042175, 0.022247830405831337, 0.017786037176847458, 0.08940183371305466, 0.25828272104263306, 0.02992132492363453, 0.5906552672386169, 0.23068691790103912, 0.3114340901374817, 0.03201857581734657, 0.5702032446861267, 0.17534175515174866, 0.032355859875679016, 0.2318384349346161, 0.03028717078268528, 0.6021755933761597, 0.48263823986053467, 6.29856458544964e-06, 1.2342177797108889e-05, 0.009680482558906078, 0.00801096297800541, 0.004041725303977728, 0.03489642217755318, 0.07885380834341049], "count": [1316]}, "observation.state.tcp_pose": {"min": [0.3615363836288452, 0.12957799434661865, 1.0500950813293457, -1.2089297771453857, 0.9657372236251831, -1.4338393211364746, 0.269258588552475, -0.3090580403804779, 0.9890510439872742, -0.12957479059696198, 0.9394997954368591, 0.13951575756072998], "max": [0.417532354593277, 0.23460809886455536, 1.14811110496521, -0.3177403211593628, 1.3769416809082031, -1.157187819480896, 0.4404858350753784, -0.10367807000875473, 1.2575489282608032, 1.2084851264953613, 2.113224744796753, 1.5702462196350098], "mean": [0.40851670503616333, 0.1598576307296753, 1.0856701135635376, -0.5117838382720947, 1.1474950313568115, -1.2212741374969482, 0.37236830592155457, -0.19364985823631287, 1.1184629201889038, 0.4236364960670471, 1.5079691410064697, 0.8927532434463501], "std": [0.012444277293980122, 0.020198635756969452, 0.018668117001652718, 0.22672033309936523, 0.06086800992488861, 0.06385470181703568, 0.051328692585229874, 0.061770737171173096, 0.08093100041151047, 0.36467573046684265, 0.2978990375995636, 0.3613363206386566], "count": [1316]}, "action.tcp_pose": {"min": [0.35925883054733276, 0.12976831197738647, 1.0501664876937866, -1.208855390548706, 0.9645667672157288, -1.4343746900558472, 0.2686053514480591, -0.30874258279800415, 0.9893453121185303, -0.1358359456062317, 0.9388790130615234, 0.13934551179409027], "max": [0.4177232086658478, 0.2343994528055191, 1.1478774547576904, -0.31749704480171204, 1.3773854970932007, -1.156659722328186, 0.44052955508232117, -0.10386516898870468, 1.2586584091186523, 1.2058815956115723, 2.1139767169952393, 1.5824518203735352], "mean": [0.40849560499191284, 0.15983450412750244, 1.0856642723083496, -0.5117221474647522, 1.1474556922912598, -1.2214405536651611, 0.37236154079437256, -0.1938348114490509, 1.1186479330062866, 0.4245513677597046, 1.5072404146194458, 0.8929682970046997], "std": [0.012626171112060547, 0.02011822909116745, 0.018635772168636322, 0.22638310492038727, 0.06077472120523453, 0.06399670243263245, 0.05140942335128784, 0.062019843608140945, 0.0810992643237114, 0.364916056394577, 0.297901451587677, 0.36132365465164185], "count": [1316]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.625379939209726], "std": [6.905479538163789], "count": [1316]}, "observation.tactile": {"min": [-10.171649932861328, -0.00299072265625, -0.0013427734375, -0.3265409469604492, -0.03439903259277344, -0.1789712905883789, -1.1642112731933594, -0.000885009765625, -0.00250244140625, -0.12067699432373047, -0.016303539276123047, -0.023793697357177734, -0.1297149658203125, -0.00836181640625, -0.00927734375, -0.08913516998291016, -0.014704704284667969, -0.0027010440826416016, -0.0167388916015625, -0.0067138671875, -0.00384521484375, -0.000324249267578125, -0.0004248619079589844, -0.00038361549377441406, -0.004444122314453125, -0.0020904541015625, -0.0048828125, 0.0, -0.0015363693237304688, -0.00033020973205566406, -0.5850715637207031, -0.018157958984375, 0.0, -0.4250764846801758, -0.02876758575439453, -0.03548121452331543, -9.49338150024414, -0.014862060546875, -0.00152587890625, -0.22603130340576172, -0.03225421905517578, -0.12589812278747559, -0.02199554443359375, -0.009002685546875, -0.0074462890625, -0.00024890899658203125, -0.0012354850769042969, -0.0006048679351806641, -0.03948974609375, -0.01324462890625, -0.009765625, -0.0003204345703125, -0.00096893310546875, -0.0004813671112060547, -0.016622543334960938, -0.009857177734375, -0.0048828125, -0.00034809112548828125, -0.0005450248718261719, -0.00031828880310058594], "max": [0.13022994995117188, 10.3101806640625, 13.2294921875, 0.00093841552734375, 0.0009403228759765625, 0.0029649734497070312, 3.5154762268066406, 3.37188720703125, 9.3895263671875, 0.0005702972412109375, 0.015999317169189453, 0.057947635650634766, 2.5087127685546875, 4.951995849609375, 6.8970947265625, 0.00136566162109375, 0.010968208312988281, 0.03827643394470215, 0.010257720947265625, 0.004241943359375, 0.00738525390625, 0.000308990478515625, 0.0001544952392578125, 0.0, 0.020130157470703125, 0.020751953125, 0.0045166015625, 0.0016021728515625, 0.0, 2.956390380859375e-05, 6.442272186279297, 23.406951904296875, 19.673095703125, 0.0023412704467773438, 0.02794933319091797, 0.15320897102355957, 0.7400169372558594, 10.64068603515625, 10.40277099609375, 0.0038461685180664062, 0.009554862976074219, 0.016725778579711914, 0.02115631103515625, 0.0037841796875, 0.01934814453125, 0.001430511474609375, 0.00028204917907714844, 0.0, 0.0244293212890625, 0.0100555419921875, 0.0562744140625, 0.0009822845458984375, 0.0011019706726074219, 0.000514984130859375, 0.008359909057617188, 0.003570556640625, 0.0107421875, 0.000629425048828125, 0.00021076202392578125, 2.1219253540039062e-05], "mean": [-7.615723609924316, 7.026703357696533, 7.700992107391357, -0.17063550651073456, -0.01862059161067009, -0.1368798017501831, 0.8770471811294556, 1.3589606285095215, 4.219742298126221, -0.04096103832125664, 0.009300361387431622, 0.010492648929357529, 0.13787922263145447, 0.2863630950450897, 0.5111985802650452, -0.005678514949977398, -0.0010700903367251158, 0.0019036394078284502, 0.0013343744212761521, -0.0014305694494396448, 0.0017532302299514413, -3.499607919366099e-05, -5.055524525232613e-05, -0.00018363249546382576, 0.0031895681750029325, 0.0030983341857790947, 0.0008725801017135382, 0.0007499561761505902, -0.0005973178776912391, -0.00016585472621954978, 1.3485080003738403, 3.708611488342285, 3.8469223976135254, -0.09227927029132843, -0.0029951755423098803, 0.02767931856215, -1.6367156505584717, 1.6205683946609497, 2.370293378829956, -0.045430514961481094, -0.0021460275165736675, -0.030414966866374016, 0.0030479764100164175, -0.0004906234098598361, -0.001913702581077814, 0.0004672482318710536, -0.0004915580502711236, -0.0003042423923034221, 0.00744257727637887, -0.0012400433188304305, -0.00033652817364782095, 0.0004492588632274419, -0.000364378240192309, -0.00022212296607904136, -0.0012941504828631878, 0.00012401824642438442, 0.0004057724727317691, 0.00010992690658895299, -7.380033639492467e-05, -8.499911928083748e-05], "std": [3.0310192108154297, 3.031825065612793, 3.376446008682251, 0.07897014170885086, 0.008851824328303337, 0.054059699177742004, 0.6609644889831543, 0.6432981491088867, 1.9721641540527344, 0.02292831428349018, 0.006497531197965145, 0.011137285269796848, 0.37490445375442505, 0.5621823072433472, 0.9152186512947083, 0.010721263475716114, 0.0025837882421910763, 0.005568249151110649, 0.003352732164785266, 0.0017152742948383093, 0.0015669491840526462, 0.00010476344323251396, 6.569128163391724e-05, 5.001617319067009e-05, 0.0019977600313723087, 0.001557283685542643, 0.0011871795868501067, 0.0001524295803392306, 0.00013951062283013016, 4.729765350930393e-05, 1.748579978942871, 5.253298759460449, 5.090664863586426, 0.12153101712465286, 0.007011360954493284, 0.03580852970480919, 2.123621940612793, 2.187358856201172, 3.0932400226593018, 0.062092024832963943, 0.006450120825320482, 0.038968734443187714, 0.007094154134392738, 0.0013849529204890132, 0.0018720305524766445, 0.0003282147808931768, 0.00028176381601952016, 0.00010607150034047663, 0.005020543467253447, 0.002079335041344166, 0.003149389522150159, 0.00020787317771464586, 0.00022586465638596565, 7.808029477018863e-05, 0.0034182611852884293, 0.0008596866391599178, 0.0016883742064237595, 0.0001242390280822292, 7.96576714492403e-05, 4.502397496253252e-05], "count": [1316]}, "timestamp": {"min": [0.0], "max": [43.833333333333336], "mean": [21.916666666666668], "std": [12.663212248258514], "count": [1316]}, "frame_index": {"min": [0], "max": [1315], "mean": [657.5], "std": [379.89636744775544], "count": [1316]}, "episode_index": {"min": [56], "max": [56], "mean": [56.0], "std": [0.0], "count": [1316]}, "index": {"min": [87205], "max": [88520], "mean": [87862.5], "std": [379.89636744775544], "count": [1316]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1316]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.33770623803138733]], [[0.33713024854660034]], [[0.33707839250564575]]], "std": [[[0.2152833193540573]], [[0.21530058979988098]], [[0.215346097946167]]], "count": [1316]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30117568373680115]], [[0.3028115928173065]], [[0.29999956488609314]]], "std": [[[0.16827626526355743]], [[0.17013372480869293]], [[0.16928483545780182]]], "count": [1316]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3083828389644623]], [[0.30658918619155884]], [[0.30392971634864807]]], "std": [[[0.17477281391620636]], [[0.17486925423145294]], [[0.17289023101329803]]], "count": [1316]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3379901647567749]], [[0.3374131917953491]], [[0.3374778926372528]]], "std": [[[0.2171747088432312]], [[0.2172727882862091]], [[0.2173934429883957]]], "count": [1316]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8078431487083435]], [[0.8078431487083435]], [[0.8078431487083435]]], "mean": [[[0.009066395461559296]], [[0.009066395461559296]], [[0.009066395461559296]]], "std": [[[0.06653697788715363]], [[0.06653697788715363]], [[0.06653697788715363]]], "count": [1316]}, "observation.images.tactile_raw": {"min": [[[0.06666667014360428]], [[0.06666667014360428]], [[0.06666667014360428]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.4726497530937195]], [[0.4726497530937195]], [[0.4726497530937195]]], "std": [[[0.15224730968475342]], [[0.15224730968475342]], [[0.15224730968475342]]], "count": [1316]}}}
+{"episode_index": 57, "stats": {"observation.state": {"min": [0.9908497929573059, -0.7800150513648987, -7.430219284287887e-06, 1.1615577936172485, -0.790596604347229, -0.7700170278549194, 0.37844911217689514, 0.007669919636100531, -0.24237729609012604, -0.22529245913028717, -0.31813541054725647, 0.00250888685695827, 0.0031746109016239643, -0.029110483825206757, 0.003401321591809392, 0.0008305310620926321, 0.003920366056263447, -0.0006986547959968448, 0.003507690504193306, 0.0008558061672374606, 0.003280095988884568, -0.03613600879907608, 0.0030513680540025234, 0.0008655614801682532, 0.00570388650521636, 0.00323324091732502, 0.00012020396388834342, 0.006036432925611734, 0.0008620141306892037, 0.3306649923324585, -1.0308808088302612, 0.003214408876374364, 1.2753734588623047, -1.7522380352020264, -0.767133891582489, -0.5128552913665771, 0.007518512662500143, -0.3185315728187561, -0.20026104152202606, -0.313235342502594, 0.0033662200439721346, 0.0031037151347845793, -0.00035668638884089887, 0.0035020173527300358, 0.0008620141306892037, 0.0032361845951527357, 2.943752406281419e-06, 0.0033804024569690228, 0.0008487114100717008, 0.0032930977176874876, -0.0001584730198374018, 0.0035197455435991287, 0.0008788642007857561, 0.00989323016256094, 0.0033024197909981012, -0.0002830925805028528, 0.006797324866056442, 0.0008584667230024934, 0.5622998476028442, -1.1069588661193848, 0.47917723655700684, -0.04534830525517464, -0.021859226748347282, -0.11696603149175644, -0.8561530113220215], "max": [1.1478477716445923, -0.5082337260246277, 0.30709588527679443, 1.5700042247772217, 1.3062805010122247e-05, -0.5087621212005615, 0.6034255027770996, 1.2643239498138428, -4.9505644710734487e-05, 0.5713454484939575, -0.002452022163197398, 1.105994701385498, 1.2503252029418945, 0.22734542191028595, 0.21768245100975037, 0.08504318445920944, 1.3514165878295898, 0.21990111470222473, 0.022421136498451233, 0.05868746340274811, 1.2397029399871826, 0.11667609214782715, 0.0340983122587204, 0.2813558280467987, 0.07862458378076553, 0.894954264163971, 0.20746710896492004, 0.09770085662603378, 0.08305221796035767, 1.085271954536438, -0.3280673623085022, 0.9503098130226135, 1.8838543891906738, -0.0030878554098308086, 0.1721273958683014, 0.5170232057571411, 1.3225127458572388, 9.088047227123752e-05, 0.5095404982566833, 0.3144387900829315, 0.6453753709793091, 1.465091586112976, 0.1347215622663498, 0.11601864546537399, 0.4894537329673767, 1.4668248891830444, 0.20636291801929474, 1.6533734798431396, 1.1370537281036377, 1.4682753086090088, 0.2226564735174179, 1.653698205947876, 0.9243646264076233, 0.13832968473434448, 1.4665844440460205, 0.18093912303447723, 1.6534749269485474, 1.3080912828445435, 0.5628750920295715, -1.1066712141036987, 0.544083833694458, 0.0023968450259417295, 0.013997574336826801, 0.05436044558882713, -0.5997864603996277], "mean": [1.0841412544250488, -0.5834909677505493, 0.08073405176401138, 1.2396986484527588, -0.6363567113876343, -0.6801106929779053, 0.47825688123703003, 1.198240876197815, -0.19022496044635773, 0.4185425639152527, -0.3071106970310211, 0.8120090961456299, 1.1877020597457886, 0.18706247210502625, 0.15816380083560944, 0.07956894487142563, 1.2713793516159058, 0.18108634650707245, 0.0038870335556566715, 0.050505299121141434, 1.166137456893921, 0.08587901294231415, 0.003265263745561242, 0.26094356179237366, 0.06158461049199104, 0.7988755702972412, 0.11398255079984665, 0.05170288681983948, 0.04492054879665375, 0.8481615781784058, -0.7041106820106506, 0.4784943461418152, 1.4925183057785034, -1.2218515872955322, -0.2267044335603714, -0.14907661080360413, 1.2304532527923584, -0.2418011873960495, 0.2271084487438202, -0.08367814868688583, 0.5671694874763489, 1.21221923828125, 0.07826077193021774, 0.09884306788444519, 0.41358324885368347, 1.3958797454833984, 0.16299015283584595, 1.3542534112930298, 1.0409371852874756, 1.3597400188446045, 0.14565891027450562, 1.4073477983474731, 0.819897472858429, 0.1064394935965538, 1.3994859457015991, 0.11384820938110352, 1.3883118629455566, 1.0998188257217407, 0.5624983906745911, -1.1068495512008667, 0.5052353739738464, -0.021414119750261307, -0.0032221549190580845, -0.02263060212135315, -0.7253094911575317], "std": [0.03465617820620537, 0.07128982990980148, 0.04044518619775772, 0.08612065017223358, 0.2392602115869522, 0.05596087500452995, 0.027644554153084755, 0.17330746352672577, 0.030489608645439148, 0.18979512155056, 0.04182984679937363, 0.12016686052083969, 0.17993254959583282, 0.04583938047289848, 0.056258875876665115, 0.01193979475647211, 0.2175312638282776, 0.03566247597336769, 0.0015675952890887856, 0.017027923837304115, 0.20200896263122559, 0.025649838149547577, 0.0018457855330780149, 0.05675553157925606, 0.00935277808457613, 0.12776534259319305, 0.030899105593562126, 0.01850290037691593, 0.017436081543564796, 0.18705245852470398, 0.17653006315231323, 0.2155282199382782, 0.15463458001613617, 0.4458324909210205, 0.24884702265262604, 0.1942586749792099, 0.17980578541755676, 0.056043591350317, 0.24385716021060944, 0.1955592930316925, 0.08051524311304092, 0.2416936457157135, 0.03179516643285751, 0.015193374827504158, 0.081154964864254, 0.21393007040023804, 0.025889026001095772, 0.5645804405212402, 0.1996656060218811, 0.2674267590045929, 0.032196298241615295, 0.5502209067344666, 0.1566542536020279, 0.028043273836374283, 0.20840886235237122, 0.039430178701877594, 0.5874512791633606, 0.46263808012008667, 5.661139948642813e-05, 3.003641904797405e-05, 0.010178210213780403, 0.010277964174747467, 0.008293293416500092, 0.041523467749357224, 0.08658447116613388], "count": [1397]}, "observation.state.joint_torque": {"min": [-44.2140007019043, -17.428499221801758, -25.03700065612793, -15.630000114440918, -0.09359999746084213, -2.4112000465393066, 0.48159998655319214, -1.5575242042541504, -0.5705403089523315, -0.905920684337616, -0.8847949504852295, -0.42004477977752686, -0.2983933687210083, -0.5929489135742188, -0.254019170999527, -0.04994520545005798, -0.5315431952476501, -0.3434881865978241, -0.04150639846920967, -0.022118592634797096, -0.6025435328483582, -1.1292893886566162, -0.03652563691139221, -0.028540121391415596, -0.053215932101011276, -0.46054285764694214, -0.35883963108062744, -0.10127562284469604, -0.027826614677906036, 14.059499740600586, -20.694000244140625, 3.822999954223633, -17.676000595092773, -1.7935999631881714, -2.4679999351501465, -3.868000030517578, -1.4123420715332031, -0.8812810778617859, -0.688450038433075, -0.7915932536125183, -0.12617947161197662, -0.6476383805274963, -1.119694709777832, -0.12617947161197662, -0.057793740183115005, -0.520029604434967, -0.3530828356742859, -0.43830758333206177, -0.02996712550520897, -1.0659648180007935, -0.6178949475288391, -0.7437946796417236, -0.033534638583660126, -0.07520598918199539, -0.4260021150112152, -0.7464631795883179, -0.556185781955719, -0.11059295386075974, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-20.566499710083008, 26.773500442504883, -8.746999740600586, 7.5920000076293945, 1.888800024986267, 2.8024001121520996, 4.815199851989746, 0.6584137082099915, 1.314280390739441, 1.338376760482788, 1.1296049356460571, 0.0879935771226883, 1.4200071096420288, 0.4854888916015625, 0.6740639805793762, 0.11772798746824265, 0.6121381521224976, 1.041978120803833, 0.04980768263339996, 0.020691584795713425, 0.5814353823661804, 0.16502784192562103, 0.04150639846920967, 0.02425910159945488, 0.07124777138233185, 0.3722721040248871, 0.29935285449028015, 0.10293588042259216, 0.016410568729043007, 55.58700180053711, 24.666000366210938, 34.4370002746582, 2.690000057220459, -0.019999999552965164, 3.2455999851226807, 0.6384000182151794, 2.563610792160034, 3.9135501384735107, 1.9211981296539307, 1.528508186340332, 0.6724037528038025, 2.1357674598693848, 0.7378280758857727, 1.0559228658676147, 0.21476440131664276, 0.5564892888069153, 0.37035319209098816, 0.45491015911102295, 0.0642152652144432, 0.6485978364944458, 1.1638301610946655, 0.2922050952911377, 0.02996712550520897, 0.47806376218795776, 0.5603271126747131, 0.4384751617908478, 0.44660890102386475, 0.0834798514842987, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-31.476612091064453, 0.6724333763122559, -14.816119194030762, -4.45324182510376, 0.43962129950523376, 0.8854875564575195, 1.6180496215820312, -0.05868799611926079, 0.03884030133485794, 0.32560858130455017, 0.1555018275976181, 0.0035891071893274784, 0.3183250427246094, -0.058041781187057495, 0.18828395009040833, 0.0507429875433445, -0.014758679084479809, 0.22393572330474854, -0.001275199232622981, -0.0008365907124243677, -0.022124668583273888, -0.08468440175056458, -0.0005728293908759952, -0.0002410683810012415, 0.0008503247518092394, 0.023427538573741913, 0.04000014439225197, 0.0018004957819357514, 0.0007318881107494235, 26.96611785888672, 4.138908386230469, 13.990790367126465, -7.4258341789245605, -0.7058544754981995, 1.0947411060333252, -1.1264718770980835, 0.08287589251995087, 0.42595532536506653, 0.1727694720029831, 0.00820246059447527, 0.0440211221575737, 0.3054618835449219, -0.09089362621307373, 0.14449116587638855, 0.0387212336063385, 0.019678954035043716, -0.0017589031485840678, -0.0009697653586044908, 0.002025082241743803, 0.009070602245628834, 0.09506527334451675, 0.00031137277255766094, 0.0012998329475522041, 0.12125786393880844, -0.004052144009619951, -0.08062256127595901, 0.001762464875355363, 0.00013892135757487267, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.7098987102508545, 1.9511570930480957, 0.7770999073982239, 1.0905276536941528, 0.29962578415870667, 0.502042829990387, 0.4188879430294037, 0.20759205520153046, 0.20106172561645508, 0.39725351333618164, 0.2461262196302414, 0.035963673144578934, 0.24675647914409637, 0.18156011402606964, 0.14955991506576538, 0.029643887653946877, 0.19502222537994385, 0.21382583677768707, 0.006790291517972946, 0.0035565390717238188, 0.14707285165786743, 0.16518773138523102, 0.004245189018547535, 0.007400100119411945, 0.010494047775864601, 0.09766419231891632, 0.0789014995098114, 0.018156230449676514, 0.0070537482388317585, 4.110113143920898, 2.677286386489868, 2.285568952560425, 2.6438851356506348, 0.2511472702026367, 0.7041373252868652, 0.7112576365470886, 0.4983895421028137, 0.739105224609375, 0.31164032220840454, 0.26296117901802063, 0.09642121195793152, 0.466983824968338, 0.3012530207633972, 0.240425705909729, 0.058944862335920334, 0.07773379236459732, 0.05852413922548294, 0.031176401302218437, 0.005893349647521973, 0.12134233117103577, 0.21226145327091217, 0.02630522847175598, 0.007680324837565422, 0.10731709003448486, 0.07669297605752945, 0.16177277266979218, 0.029221301898360252, 0.007055254187434912, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1397]}, "observation.state.tcp": {"min": [0.36157307028770447, 0.13600976765155792, 1.0518518686294556, -1.2412463426589966, 0.8686339259147644, -1.4347457885742188, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.2697190046310425, -0.2869423031806946, 0.9998176693916321, -0.22589367628097534, 0.9016563296318054, 0.13343481719493866, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.42422303557395935, 0.2437477707862854, 1.1563009023666382, -0.27584898471832275, 1.3445661067962646, -1.1347160339355469, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4390197694301605, -0.08818629384040833, 1.2684412002563477, 1.2082911729812622, 2.149587631225586, 1.4942197799682617, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.41266345977783203, 0.1652907133102417, 1.1031855344772339, -0.5205323696136475, 1.1114084720611572, -1.204769253730774, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3731163442134857, -0.1944996863603592, 1.121079921722412, 0.40271326899528503, 1.5574135780334473, 0.8513030409812927, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.011028257198631763, 0.020705953240394592, 0.023544814437627792, 0.27562835812568665, 0.07423586398363113, 0.06900924444198608, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.04962201789021492, 0.06436744332313538, 0.08169156312942505, 0.4720141291618347, 0.3399757742881775, 0.40586382150650024, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [1397]}, "action": {"min": [0.9908133149147034, -0.7799999713897705, -2.8723860005793687e-17, 1.1613178253173828, -0.7905874252319336, -0.7699999809265137, 0.3784695267677307, 0.0, -0.24111181497573853, -0.22907982766628265, -0.3490658402442932, 0.0, 0.0, -0.03498322516679764, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.03479153662919998, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.33067378401756287, -1.0316753387451172, 0.0018440893618389964, 1.2753039598464966, -1.752307415008545, -0.7681757807731628, -0.5129403471946716, 0.0, -0.3490658402442932, -0.20340797305107117, -0.3162769675254822, 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, 0.5624915957450867, -1.1069231033325195, 0.4786137640476227, -0.046039216220378876, -0.0221437718719244, -0.11750255525112152, -0.8564785718917847], "max": [1.1479145288467407, -0.5081724524497986, 0.30726104974746704, 1.5700000524520874, 5.426735856995184e-20, -0.5080966949462891, 0.60379558801651, 1.2665886878967285, 0.0, 0.5781200528144836, 0.0, 1.1121935844421387, 1.2594949007034302, 0.2272319197654724, 0.2234334945678711, 0.08789706230163574, 1.355076551437378, 0.2234925627708435, 0.03060738369822502, 0.060218144208192825, 1.2432490587234497, 0.12119501084089279, 0.0402735136449337, 0.28579989075660706, 0.0902843251824379, 0.9028432965278625, 0.20776915550231934, 0.10348618030548096, 0.08766696602106094, 1.0878294706344604, -0.32801803946495056, 0.9506895542144775, 1.8840352296829224, -0.0028287218883633614, 0.1722533404827118, 0.5169683694839478, 1.3267016410827637, 0.0, 0.510084867477417, 0.3490658402442932, 0.6496407985687256, 1.5707963705062866, 0.13500112295150757, 0.11826496571302414, 0.4909120798110962, 1.5707963705062866, 0.20834439992904663, 1.7453292608261108, 1.1421446800231934, 1.5707963705062866, 0.22262972593307495, 1.7453292608261108, 0.928154468536377, 0.1459103226661682, 1.5707963705062866, 0.18955320119857788, 1.7453292608261108, 1.3962633609771729, 0.5626834034919739, -1.106863021850586, 0.5442397594451904, 0.002325562760233879, 0.015088203363120556, 0.055130790919065475, -0.6000000238418579], "mean": [1.0841792821884155, -0.5835579633712769, 0.08077327162027359, 1.2398669719696045, -0.6362414360046387, -0.6800929307937622, 0.47840267419815063, 1.1976289749145508, -0.19345422089099884, 0.4244011640548706, -0.3405665457248688, 0.8138080835342407, 1.1942548751831055, 0.18760879337787628, 0.1624835729598999, 0.08368276059627533, 1.2732231616973877, 0.18605272471904755, 0.0003317955997772515, 0.051541879773139954, 1.1660147905349731, 0.08807240426540375, 0.00018376862863078713, 0.26361995935440063, 0.08024536073207855, 0.8024527430534363, 0.1177721917629242, 0.05593356490135193, 0.0476687066257, 0.848445475101471, -0.7047675251960754, 0.4779333174228668, 1.492759346961975, -1.2204409837722778, -0.22678455710411072, -0.1490476280450821, 1.231955647468567, -0.24425850808620453, 0.2294648438692093, -0.08023694157600403, 0.5696856379508972, 1.2268447875976562, 0.07769490778446198, 0.10133763402700424, 0.4160573184490204, 1.483412265777588, 0.16251657903194427, 1.4022902250289917, 1.0429458618164062, 1.4405149221420288, 0.1454438716173172, 1.4814622402191162, 0.8216915130615234, 0.12370327860116959, 1.4891198873519897, 0.11379273980855942, 1.4641414880752563, 1.1732945442199707, 0.5625826120376587, -1.106852650642395, 0.5052931308746338, -0.021457239985466003, -0.003236152930185199, -0.02264993265271187, -0.725317120552063], "std": [0.034600403159856796, 0.07142253965139389, 0.04069770872592926, 0.08639904856681824, 0.23940840363502502, 0.05601084604859352, 0.02752695046365261, 0.18787522614002228, 0.03446067124605179, 0.19153189659118652, 0.053789615631103516, 0.14033932983875275, 0.19697044789791107, 0.0460689477622509, 0.05798680707812309, 0.013613595627248287, 0.22854779660701752, 0.03852371871471405, 0.002420006785541773, 0.01772853545844555, 0.21108758449554443, 0.02633279375731945, 0.002325282199308276, 0.05681952089071274, 0.013781803660094738, 0.13781805336475372, 0.0330980122089386, 0.02058354578912258, 0.018260367214679718, 0.18685871362686157, 0.1767672598361969, 0.21564750373363495, 0.15486882627010345, 0.4471126198768616, 0.24894095957279205, 0.19443845748901367, 0.1982869654893875, 0.06779056042432785, 0.2436729073524475, 0.20788541436195374, 0.09262846410274506, 0.26466724276542664, 0.031673576682806015, 0.017250271514058113, 0.08754581212997437, 0.25694912672042847, 0.028174107894301414, 0.5909984111785889, 0.20785999298095703, 0.3042515814304352, 0.033798035234212875, 0.588111937046051, 0.16281123459339142, 0.03179400786757469, 0.2508597671985626, 0.04126708582043648, 0.6205032467842102, 0.49489089846611023, 1.6239986507571302e-05, 1.4236172319215257e-05, 0.010407554917037487, 0.01033678650856018, 0.0083700492978096, 0.0415806919336319, 0.0867108628153801], "count": [1397]}, "observation.state.tcp_pose": {"min": [0.36157307028770447, 0.13600976765155792, 1.0518518686294556, -1.2412463426589966, 0.8686339259147644, -1.4347457885742188, 0.2697190046310425, -0.2869423031806946, 0.9998176693916321, -0.22589367628097534, 0.9016563296318054, 0.13343481719493866], "max": [0.42422303557395935, 0.2437477707862854, 1.1563009023666382, -0.27584898471832275, 1.3445661067962646, -1.1347160339355469, 0.4390197694301605, -0.08818629384040833, 1.2684412002563477, 1.2082911729812622, 2.149587631225586, 1.4942197799682617], "mean": [0.41266345977783203, 0.1652907133102417, 1.1031855344772339, -0.5205323696136475, 1.1114084720611572, -1.204769253730774, 0.3731163442134857, -0.1944996863603592, 1.121079921722412, 0.40271326899528503, 1.5574135780334473, 0.8513030409812927], "std": [0.011028257198631763, 0.020705953240394592, 0.023544814437627792, 0.27562835812568665, 0.07423586398363113, 0.06900924444198608, 0.04962201789021492, 0.06436744332313538, 0.08169156312942505, 0.4720141291618347, 0.3399757742881775, 0.40586382150650024], "count": [1397]}, "action.tcp_pose": {"min": [0.3617485761642456, 0.13585861027240753, 1.051462173461914, -1.2363028526306152, 0.869015634059906, -1.4367495775222778, 0.2697877287864685, -0.28791728615760803, 0.9997839331626892, -0.22376109659671783, 0.8986369371414185, 0.13332553207874298], "max": [0.4250454604625702, 0.24405977129936218, 1.1556428670883179, -0.2768876254558563, 1.3449991941452026, -1.1348744630813599, 0.4385626018047333, -0.08741283416748047, 1.268820881843567, 1.2077113389968872, 2.149855613708496, 1.4961297512054443], "mean": [0.4127521514892578, 0.16528111696243286, 1.103153109550476, -0.5206144452095032, 1.1113743782043457, -1.2050275802612305, 0.3731163442134857, -0.19470246136188507, 1.1209851503372192, 0.40349453687667847, 1.5577603578567505, 0.851394534111023], "std": [0.011149393394589424, 0.020678812637925148, 0.023463398218154907, 0.27526000142097473, 0.07417052984237671, 0.06929122656583786, 0.049701765179634094, 0.06475714594125748, 0.0817045196890831, 0.4732142686843872, 0.3401203751564026, 0.40600016713142395], "count": [1397]}, "subtask_index": {"min": [0], "max": [21], "mean": [9.896206156048676], "std": [6.846196081191648], "count": [1397]}, "observation.tactile": {"min": [-8.968559265136719, -0.004669189453125, -0.00128173828125, -0.20096206665039062, -0.021526813507080078, -0.17056035995483398, -1.0517158508300781, -0.003387451171875, -0.004150390625, -0.17995738983154297, -0.014163017272949219, -0.02244877815246582, -0.5498085021972656, -0.01092529296875, 0.0, -0.05076313018798828, -0.010212421417236328, -0.011317014694213867, -0.016689300537109375, -0.0074462890625, -0.00701904296875, -0.00037097930908203125, -0.0006589889526367188, -0.0003056526184082031, -0.001399993896484375, -0.0046539306640625, -0.0030517578125, -0.0001888275146484375, -0.0012574195861816406, -0.00029838085174560547, -0.0055389404296875, -0.019805908203125, 0.0, -0.38219547271728516, -0.026812076568603516, -0.0006580352783203125, -7.594455718994141, -0.0078125, -0.0013427734375, -0.16989612579345703, -0.023057937622070312, -0.14713406562805176, -0.03658103942871094, -0.0052490234375, -0.006591796875, -0.00026988983154296875, -0.0013360977172851562, -0.0005624294281005859, -0.003376007080078125, -0.012237548828125, -0.0098876953125, -0.009345054626464844, -0.0012340545654296875, -0.0007495880126953125, -0.0311279296875, -0.008636474609375, -0.00665283203125, -0.000408172607421875, -0.0008139610290527344, -0.00043511390686035156], "max": [0.13459014892578125, 7.00140380859375, 8.21380615234375, 0.0005521774291992188, 0.006133556365966797, 0.003927707672119141, 4.275432586669922, 5.6380615234375, 13.46063232421875, 0.0025835037231445312, 0.015309333801269531, 0.07265925407409668, 2.7099571228027344, 2.14520263671875, 3.845947265625, 0.0018491744995117188, 0.010547161102294922, 0.03415417671203613, 0.015460968017578125, 0.0067138671875, 0.00225830078125, 0.0005092620849609375, 0.00015687942504882812, 0.0, 0.01972198486328125, 0.0162353515625, 0.00384521484375, 0.0014057159423828125, 0.00018072128295898438, 7.152557373046875e-06, 5.649467468261719, 21.17266845703125, 18.54833984375, 0.0020856857299804688, 0.009725093841552734, 0.1075429916381836, 0.9377708435058594, 12.812896728515625, 10.2628173828125, 0.0014934539794921875, 0.011823654174804688, 0.016287565231323242, 0.019739151000976562, 0.0115509033203125, 0.02996826171875, 0.00122833251953125, 0.0004951953887939453, 0.00013017654418945312, 0.430755615234375, 0.4583740234375, 0.98077392578125, 0.001178741455078125, 0.0029420852661132812, 0.007485389709472656, 0.0220794677734375, 0.01995849609375, 0.05126953125, 0.0007572174072265625, 0.0008206367492675781, 0.0009715557098388672], "mean": [-4.289083003997803, 3.9117681980133057, 3.6929965019226074, -0.07418897747993469, -0.004502167459577322, -0.08834919333457947, 1.460150122642517, 1.7496018409729004, 4.864240646362305, -0.06382802873849869, 0.0002151074877474457, 0.024415133520960808, 0.04642225056886673, 0.11873245984315872, 0.18338145315647125, -0.0019932377617806196, -0.0009589060209691525, 0.0003139633045066148, 0.0006388552719727159, -0.0006303616682998836, -0.002484878059476614, -6.543284598592436e-06, -6.65373881929554e-05, -9.884651808533818e-05, 0.0025457425508648157, 0.0008703735657036304, 0.00048701424384489655, 0.0004280584689695388, -0.00038012114237062633, -0.0001377770968247205, 1.632932424545288, 2.8633005619049072, 2.952225923538208, -0.06799332797527313, -0.0035515741910785437, 0.031233301386237144, -0.8487169742584229, 1.276566505432129, 1.9332647323608398, -0.03684067353606224, -0.0013730204664170742, -0.017588328570127487, 0.0033600437454879284, 0.00037180326762609184, -0.000810234050732106, 0.0003701771784108132, -0.00040963399806059897, -0.00024760272935964167, 0.011790447868406773, 0.004325981251895428, 0.003999091684818268, 0.0005313979927450418, -0.0006264532567001879, -0.00026039412477985024, -0.000712201523128897, -0.0002911293995566666, -0.0008949929615482688, 0.00012109001545468345, -0.0001648429752094671, -0.00017505179857835174], "std": [2.10988187789917, 1.900747299194336, 1.8326681852340698, 0.037844255566596985, 0.004109602887183428, 0.043077923357486725, 0.8104739785194397, 0.9680734872817993, 2.4097516536712646, 0.03235059231519699, 0.0028614334296435118, 0.013917116448283195, 0.22920863330364227, 0.17080837488174438, 0.34850233793258667, 0.005030896048992872, 0.0012686190893873572, 0.003022936638444662, 0.002945273881778121, 0.0016395931597799063, 0.0015187147073447704, 0.00011765262752305716, 8.035343489609659e-05, 4.3796873796964064e-05, 0.0017654203111305833, 0.0015010873321443796, 0.0011466039577499032, 0.00014642813766840845, 0.00013627692533191293, 4.560699380817823e-05, 1.9149909019470215, 4.176449298858643, 4.121643543243408, 0.09542753547430038, 0.006274743936955929, 0.03601928800344467, 1.6175936460494995, 1.8661270141601562, 2.5787224769592285, 0.05007157474756241, 0.004876559600234032, 0.032034240663051605, 0.006614717189222574, 0.001535771880298853, 0.002171535976231098, 0.00031224198755808175, 0.00035609572660177946, 0.0001328605430899188, 0.026163175702095032, 0.017706716433167458, 0.0402473621070385, 0.0005384691758081317, 0.00032063727849163115, 0.0004969959845766425, 0.005628006067126989, 0.0012852090876549482, 0.0023863420356065035, 0.00021408998873084784, 0.00019951754075009376, 7.271998038049787e-05], "count": [1397]}, "timestamp": {"min": [0.0], "max": [46.53333333333333], "mean": [23.266666666666666], "std": [13.442635323642625], "count": [1397]}, "frame_index": {"min": [0], "max": [1396], "mean": [698.0], "std": [403.2790597092787], "count": [1397]}, "episode_index": {"min": [57], "max": [57], "mean": [57.0], "std": [0.0], "count": [1397]}, "index": {"min": [88521], "max": [89917], "mean": [89219.0], "std": [403.2790597092787], "count": [1397]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [1397]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3428298532962799]], [[0.34223639965057373]], [[0.3420376777648926]]], "std": [[[0.2176201194524765]], [[0.2176557332277298]], [[0.21767191588878632]]], "count": [1397]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30152931809425354]], [[0.3041411340236664]], [[0.3023986518383026]]], "std": [[[0.16923289000988007]], [[0.17158576846122742]], [[0.17063133418560028]]], "count": [1397]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30836066603660583]], [[0.3064768612384796]], [[0.3037394881248474]]], "std": [[[0.17312797904014587]], [[0.17323528230190277]], [[0.17120113968849182]]], "count": [1397]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.34147363901138306]], [[0.3408888280391693]], [[0.3407506048679352]]], "std": [[[0.21825677156448364]], [[0.21837477385997772]], [[0.21842803061008453]]], "count": [1397]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.8156862854957581]], [[0.8156862854957581]], [[0.8156862854957581]]], "mean": [[[0.0072359349578619]], [[0.0072359349578619]], [[0.0072359349578619]]], "std": [[[0.05743546038866043]], [[0.05743546038866043]], [[0.05743546038866043]]], "count": [1397]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[0.9843137264251709]], [[0.9843137264251709]], [[0.9843137264251709]]], "mean": [[[0.47313192486763]], [[0.47313192486763]], [[0.47313192486763]]], "std": [[[0.15195141732692719]], [[0.15195141732692719]], [[0.15195141732692719]]], "count": [1397]}}}
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/info.json b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3237ab1ae88ff7a7c36344d7bf2c2bdecefa2b5b
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 58,
+    "total_frames": 89918,
+    "total_tasks": 1,
+    "total_videos": 348,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:58"
+    },
+    "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/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/modality.json b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/subtasks.jsonl b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d81fba5c44122ec51d00a69ec487e985131414da
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,22 @@
+{"subtask_index": 0, "subtask": "Extract the test tube from the rack with the left hand. | Skill: extract"}
+{"subtask_index": 1, "subtask": "Move the right hand to the stopper on the test tube. | Skill: move"}
+{"subtask_index": 2, "subtask": "Upcap the stopper from the test tube with the right hand. | Skill: upcap"}
+{"subtask_index": 3, "subtask": "Place the stopper on the table with the right hand. | Skill: place"}
+{"subtask_index": 4, "subtask": "Pick up the dropper from the table with the right hand. | Skill: pick"}
+{"subtask_index": 5, "subtask": "Move the dropper above the beaker with the right hand. | Skill: move"}
+{"subtask_index": 6, "subtask": "Align the dropper with the beaker opening with the right hand. | Skill: align"}
+{"subtask_index": 7, "subtask": "Insert the dropper into the beaker with the right hand. | Skill: insert"}
+{"subtask_index": 8, "subtask": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate"}
+{"subtask_index": 9, "subtask": "Move the dropper above the test tube with the right hand. | Skill: move"}
+{"subtask_index": 10, "subtask": "Align the dropper with the test tube opening with the right hand. | Skill: align"}
+{"subtask_index": 11, "subtask": "Insert the dropper into the test tube with the right hand. | Skill: insert"}
+{"subtask_index": 12, "subtask": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense"}
+{"subtask_index": 13, "subtask": "Place the dropper flat on the table with the right hand. | Skill: place"}
+{"subtask_index": 14, "subtask": "Pick up the stopper from the table with the right hand. | Skill: pick"}
+{"subtask_index": 15, "subtask": "Move the stopper above the test tube with the right hand. | Skill: move"}
+{"subtask_index": 16, "subtask": "Align the stopper with the test tube opening with the right hand. | Skill: align"}
+{"subtask_index": 17, "subtask": "Cap the test tube with the stopper using the right hand. | Skill: cap"}
+{"subtask_index": 18, "subtask": "Move the test tube to the rack with the left hand. | Skill: move"}
+{"subtask_index": 19, "subtask": "Align the test tube with the rack using the left hand. | Skill: align"}
+{"subtask_index": 20, "subtask": "Insert the test tube into the rack with the left hand. | Skill: insert"}
+{"subtask_index": 21, "subtask": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."}
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/tasks.jsonl b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1f60766a73d00341df5f7dfe680579f90b38c087
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack."}
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/v40_validation.json b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..03977b68778b1cdde3dd3059bc7526761f9ee83d
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 58,
+  "frames": 89918,
+  "video_frames": {
+    "observation.images.head_left": 89918,
+    "observation.images.wrist_left": 89918,
+    "observation.images.wrist_right": 89918,
+    "observation.images.head_right": 89918,
+    "observation.images.tactile_deform": 89918,
+    "observation.images.tactile_raw": 89918
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 58
+}
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..934985afc393ca012d079484a8bd28c9582e8e2a
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:e89ca7bafd218a6662d0b54dcdbf6776ed462d76e3d5f5f6372aef4e8ecac895
+size 25457088
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..167467ef448a048763e9d34f1b5b2efd006e06e8
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:120cd40f4db211503a700b88247916eb2d3aab3ec7acedb4d17bc5b1d16fa1b2
+size 23150902
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000002.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9e5760870e9289b359fbcf0c80815721c3b422f1
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:7918f40eae318b3932929fb34a4af56b3f56d4445d1a174573a8902d59ff7bc9
+size 26855114
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000003.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3340dc83d115390ac6cbb9c79ff9c67bedaab7de
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:2d6b0881d917fa3ab90d8b246fd40aba8dccbe3a95b605051f98252b4adfed9f
+size 24351063
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000004.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..08709b3efe783e7f64b4e2bb4665b6acdc28bd37
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:9fded75ddbc783bc1f18d2c66233092aab4ea1428b8b3931fb2e28765c99edea
+size 22919736
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000005.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8694e5c0c414f52d8f9476ec94fd48d6d291cd06
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:983f83a530126fee26fd4384c313c4a91954f4466af42e519b2eedd6a55ef41c
+size 24866512
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000006.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f8765375d1798a4d685c78446ccf594e52bda71d
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:0495e7f23206f519f1052d6248a5fec6c74b1f47de8102efca76741e97e494b7
+size 21464853
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000007.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4153494bbefb3130e632904bc0ebdd5d44f514c7
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:e6cd94f2d8a02642c9053b5f7e877a883b3d1a04c2fac3541a6c989c3394e43c
+size 21228356
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000008.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2da1cb0a0022d5feae2aab14ae7c4c9eea095ba9
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:9665fc8a93561c3ea078c2e04042e8ebfe9ffddaed1938b80295ffbe8820a360
+size 21599849
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000009.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..68c117b2645df21460c8a1d5a2cc76efcb173cf7
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:252d73952bd349a90cddf77e1a697e7d5f2f7e186894a88d92b9d08f215ce288
+size 23523167
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000010.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b26b6f95dc12a0ec70b456483a5efd417184991d
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:54bb2110086010f956654d8569970bb1c826304a7627bb167e0f121c2c27c363
+size 22249544
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000011.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..339a470d0ba8da42914f4a717f227ba431b3bafd
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:f511e47528de8e70b2a8f860202d50cb9a36683f67930552c16dbb3c71510bce
+size 23477278
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000012.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..767b8326249f5292fdd4bdba69d059fe6aab4b32
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:8dd3ec8ec20b46146b2bf08c83076731024aee673d9c43aa04893515bd4a4bb6
+size 21484224
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000013.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c43c4f0d374dfb9511227fe403c6922af3fad880
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:c6805260041852857ee9e09e821f6ebc8c7d053c0d0c2f021f82c9ceb1a06d17
+size 22280012
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000014.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0ef23f5445d5dec45491600580d31b949d0d109b
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:6c5b587ec1e3e59766c5c2adb38a6637c8c8e19c741e46c86d4c8e3c7a828a1a
+size 20988189
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000015.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5d7e971b3a94561d386d9df0c76badc6ab6be73e
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:a24bf3d3b89977f220cecc5cf00f692f6e54590a9cf694069f0ef0065a00135c
+size 21156331
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000016.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e1e5941b57c346f66b5cf8f7f59b6f5a815d9198
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:538503e88fb2005049c3682d4118d2c33eab5ca3de17c7b2e76d52f26c1ecbb5
+size 22014830
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000017.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0f0952e59c197f5f369e593112d3f388583ae0a6
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:cc637e189f58d07a4fbc2cd13bae3f07464bf6b136128d1635fec0d228653377
+size 23023282
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000018.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2352a69e9c39421e26f187577ece2c68712192df
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:9327e3ffcd4ec7bed161317dc5b966241627265ea537399bbe887154a3589291
+size 22381873
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000019.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0add4e349a8ec3b8cd883cca031b57a2eebaa9c8
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:d2758deb331e796bfeab404d781011a5c45df5c7f74204f698e8a8f2eabf1ee2
+size 21070670
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000020.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3102eb1721ca8c5399ae872e310276472381dff5
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:a1ca7ee24bb8c2f9fffcfe352fb4f02a1b68b481e113808015fa377ae2347597
+size 20848764
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000021.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8860b8683dc856c031d51f9b5734188a4cf3eec4
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:e3fa56567e8c2ad9652c9af4f9b896544844f9b3121d1e31bbafce1e1055cda0
+size 20774191
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000022.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..950db802b7c8f97b841cc03e28c10a182c71b42f
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:580e3eed6de447caa48e7338f79223f9917c1a2285b4bbac3c49fbae8447bee2
+size 20673778
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000023.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6af23551f556697b086f99cd9ac9c47876a9fb15
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:70843665f75d3a4207ec34282f89fd8534485d8fcf576bfe190beb43fb969cb1
+size 22435693
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000024.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6c03cb78aa7a7d8e16cbe431e43497070a8b512d
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:bcca107ac22c82b765ae785aafdefb0b6a3b653d220b46bc0a296d11f0e38e1f
+size 20481622
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000025.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8715edb44c70f455cdf56cfe00753d119f4d19c1
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:4ce5c88c8408d15fcf5f71a2d89ee44ccbfb0f653cfaf285b387257a612e470c
+size 20882239
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000026.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..187eba215d48bde4d7f4207384957cca52bc6173
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:31fef23b3551a5e80f0e104693a65b7b529c7c80034c35ca5340abc30790e4e5
+size 20727172
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000027.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6bb47f44aec1382556c3c9590e2fb7fc68b1d762
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:2d407bde3343e66dcc84e46410be46f85a2da058d77b2a79cf63bec31699feb3
+size 23391409
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000028.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..319864629795ee000bf4195501dc36c774ffbe60
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:4ebd5461815387f3a5811de749e1259be4fd26d642d8eff2ba99c4efa5b39f3e
+size 23413595
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000029.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..40fe1dceff6544a1a7d2a0d218436ad061c0e4d9
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:e5d983881a5e31acd1fdf019108fb9d0b08a13618364c7a3eb0d7c39864c2fcd
+size 21196061
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000030.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4afc9f229137fa861082e9bb5a8af7e734681a2c
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:000768ce3f260996d2b466489affb55997385326734413dd895541193783acab
+size 21705920
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000031.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca118aa83ecbe5f5abafe2140fcdd9884ab2b901
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:63b3eba04392d88522d739e51bd1f108532a5b6811fc1b1ebc92d15cdd335e39
+size 25982984
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000032.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3527921ea1e1d6516cdc243ac48bcb2498d2e34e
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:f926cbcb8cfb9c4b17fe676ce171e3ecd2b3b23bffbee078312493770c04cecd
+size 19346793
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000033.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d5748ca09fc665a2ffc554ff86fd6a8bd073242b
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:99190e359e729c3da70b255a56de802bee872137d13090b6c4907b6ab3f08974
+size 20412686
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000034.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000034.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0d2fedf450877112456357f459dfa6ef843ac263
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:434904496c290329fda585fe40bda9d3414c0c981ce9f494d56dcdafb6c7b888
+size 22389095
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000035.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000035.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c1d886406f42658e0f6861c67c0c693b5610037f
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:ca270152bd01c40ade0165ff166dafdf0275c784af3c8e9211366784a8c09ccf
+size 22029894
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000036.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000036.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d906b2f24477799daf53ab8b10ca1f9a536b3865
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:0ea827af7c3886aa577b1f8e262878b825935640a1480d69e7414c0e87db5539
+size 35288597
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000037.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000037.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e0809f2e06811f901437339f642495752613cf54
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:4e3b9bb911f9a0ca7c496f06cdc18b0faf8abaecedae455a02e03f620c2bc861
+size 23094855
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000038.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000038.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..88a9732d1de0d7b3814bd6ad19e7c553299b80ad
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:b0e223308f8016cbe493de08f368bddb2319bab5d23f84a090ff549f99ebdc07
+size 24382593
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000039.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000039.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d9f848c8be658d569511f393b52988d9b066813e
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:c2fa5aa1509f17ebc9fd9491a919639471c580f1015cd107669dd1ae5051eaee
+size 27666770
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000040.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000040.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1b8991eabde85f80101fc192b095ddc9572bebff
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:468b830984459745230bb96d1c389a90387ceba99c656e61f356133ba2fac0aa
+size 22010265
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000041.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000041.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca67c23da11f3936ceff23a4349d8dbf95d3e4ce
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:2f88f20b35d9cdcbe2279c5f7630330a78303930e559b140f128b7310b33bd0e
+size 24501901
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000042.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000042.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b45ece43b09f876e5ba8b0463d14c70a3c10a55
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:48320a6f9e02263388f81614b99670359b195529332a893a0af28ff14d308171
+size 30828465
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000043.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000043.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c09ddf2ca668fab5d2cdb1623b9bf1eb219a80fa
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:2a9afe291447377809fed6cd93d875b8704d3fb37d9ba5f40e9ae0ba54bd9025
+size 25621348
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000044.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000044.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c8c0d24e951d6ec1f0098e9ea19bc361f9df6e23
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:6bc093284885f20f141b4e9c6a277043d1bee390f404b0c2ca57fdd39feed486
+size 25557687
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000045.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000045.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee078d7aa97a84d9ccf8820889e4ddab84ebf68e
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:dffa8641985642c78c75097b612b817d0ea2f89d786afed132cab77e17ada5e3
+size 24017028
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000046.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000046.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cbc1db9fbf2892af5c9bb8eef5387ce217ae7c2c
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:2c51b5179095bb175a10ac1ae2ecfbae4ebdc1be81d88f483a9aa0d7f16777d2
+size 23566014
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000047.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000047.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..da6a35d939b338325f78e6f6dadb2f9fd46cc258
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:c627bfac465ea2c096d2d760701e3c493c970c47fdadc3db57ae8eac088076f0
+size 28163578
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000048.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000048.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ce3e9030df2efdc7659ccfe4bc6084fe4d1a6f8d
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:56533692df2c96d1fc86ce3c26c0461da765bcaa2c3b52bc6743d9e8a6c772a5
+size 26065028
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000049.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000049.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bc6a7c12fba7529e40dee48b2eb12709ddc339d0
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:9c438871a358a975e6733ed0304a869571e45ac7bc38717ae3a5cc15bb2e091f
+size 24244937
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000050.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000050.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..45d3414a92432b6ce4e6827b21150973314f4476
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:50a9c792510b7f8d6377c08a8ca50bbe30980254e4822c51eff36a123da2b2f0
+size 20846697
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000051.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000051.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2c53662efbe492e83721d69d274bc835829a83d8
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:f11f79459e454e642ca3c71b14385ff73a17a7e971e5726aa4ad3412eb1fef02
+size 22950256
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000052.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000052.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..67494cfa513eecf1cacfd0787132d9b542c4ce70
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:799fc451e7bdf207d9cad3eb82ddbb28fdd6f9c0c61d9d7d13e5af06c9dad113
+size 23021165
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000053.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000053.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..345094cfb792975ab42820c0839ce6246beac248
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:7c5dd448243631b6e542af3678ce6b66cd3b15bc0c28d4fe9cfa540eb13973a9
+size 22313227
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000054.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000054.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9f0494344592549cf802e2eb62657deadd7d3aa1
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000054.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fe8d9a639384eaf93a367a67f038c4a1ccb09fb4ab93275339e93e491556167
+size 20551274
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000055.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000055.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e9a55156adbafa4c2faba5b35bfc74fbde91ec37
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000055.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:006173cb91c36fd532747c24f0dded60733d39646795dde97249cab6d57f162a
+size 20042738
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000056.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000056.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..211fcb8a21c982d11625a2c46eb80de9de696cb2
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000056.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b78b20a87d7ccd02253cc7895bf8bb9654faeda66c167133b6b92fa4f436b63
+size 19547876
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000057.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000057.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9df33c8a74cf08ead9160b1c32f7130115b5fc2a
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000057.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f5d9d7ac852e7aef5456c7a66e2c3a7f0eba1268452b613301cc49e7051c6dd
+size 21125523
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000000.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..42f1b594956da9996cdf0b7fc9f220507de653d3
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:318418f5fefcceab24ee5fe63d49209e9ddbc3b9833a310e20384ada885483b1
+size 25745339
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000001.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e9d47d90e9caf89aa0ab662c8e270e845b1323f4
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:371aca5d16d67a851637dcc379d507e75c9a17f1871b6ff37a1476291b09dc5d
+size 23311200
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000002.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1d5eb21c3df844e66049f30d7b51cf4ed654bf39
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:6c454689281fa3a61d4115cacd66388dd0489a7037d19d29a2400ca880172d0a
+size 26847687
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000003.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..28f673b2bda9b05c45d23bffed0e249983935118
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:e19ba7765efd11ae07738c339b0a6c6c93dfc21d580ff3046d4d8d6245845f70
+size 24610139
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000004.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5e0d026cc0918682e0a470abc1840751ac95a9d1
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:192f2c34b884e248bb384daa95e94edcc06317ba61503924c614d6a973b88065
+size 23146443
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000005.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fae840f668afa1eac165e1681d1f2e20d9a19943
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:8269b867a428b6e98ed793dea22b6169ca6cfaf611263ae9c7b6c1a4326ffd4e
+size 24949602
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000006.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..59fdc1073a532b858aeb94c05479779c79c853e0
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:1efd3b605f477cacd3292997b51b08e9ae56ddfdb656cc51e51f4b52404d96e7
+size 21568428
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000007.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e38b69a1044c5c10905639c03d3ec953709b874f
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:bd053882dc362f4e2860eb4d1fe559cda8ce66c0e5a3679ceff84acf99db1263
+size 21422898
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000008.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f70bb2f9e2e0bb1214665acfaa1dbfa5f2ed3853
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:046c5daa827067285291abb8d6ee0503ffc8a5b681938ddae5481ebd87995fd1
+size 21794236
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000009.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ecb4079b36a5a946a84c647646f9230ee7555d45
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:32ac23cf91d37874d6dfc35bbf33d92c441cfcd18a11d97e8959926581908956
+size 23671934
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000010.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b302f7d3a82aff86ce76a779669709d55ac0aae5
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:0f5b80ccf26fa5b560ff5d22d79b635b10a9106ecec7f612820351a9a5da4f6c
+size 22472001
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000011.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c1f15b02076e059de7a7d3256428ecd263fdb522
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:237a1655a8747e252c06ddd4bd7e4b68d21516d3ed8171c872bf12fa486c5f65
+size 23769714
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000012.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1c66199fb985e725bb24c71eb4312151ddd39555
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:0f1d4493430f684067ec68345cba8bba5730040efebb22ac103666ef210efe3f
+size 21710176
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000013.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..756433283a9d448a2fc7b93f70458be094fadde5
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:54fecd701cc60c377336f33245c417b7e9ae5a79d324fb401f97c2b38389cad2
+size 22463976
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000014.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..735a1e837aee7773e395147897d2d23542452906
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:4337aa539bf60852201d0fbf75040f085bc6f79ee19941611938834b6bcbe5d2
+size 21266859
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000015.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9df5be962ff14480b72aa06c5b2a2647486d25ed
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:464195de7ea97689b688cf25d1e0ab4ac3b4f65beb5c1503d642f030fd3aca04
+size 21377796
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000016.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6299985b5c8597e3f4980188aa2392dab5a4e712
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:3b59cd239f91f1fce6a1f6dd94e4a67ccd3ba809304aa11b480ae180759639d8
+size 22277713
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000017.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..16568a6fff934bef275cfcd47ebaae35fd558cec
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:70d3ff0d50e0bc7b51faccfe8c55180f0388a9163134376e0b871ce0a2d9af59
+size 23108318
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000018.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a384f2feb6b450685a73fde31a418cfa92513a93
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:150f5a09480ac2fcd59c00839b8b97ce15d9539d2b14e3594a1382f73ddfc17d
+size 22535908
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000019.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e8e25d1f9ed316bbe7e1ce2cadc46908c8e3f419
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:de753f37aee28cb88dd02309a8d431cb958a992bc9d371c06ddaff9439358770
+size 21299593
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000020.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..14e62e42764cfa2346a9d16e322be2168cda3e9a
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:2714ae63ca6634caac9e872569707a9e33a02ebb402388bd836761b36d5f36e4
+size 21066641
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000021.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1a282a1456b1397563bbb099d71c13e1e2ea350b
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:c7031b2fcf8c30aa88ade4b41fe0609586a10070032a5ef84d09921eab040951
+size 20883928
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000022.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..968923a42b2754f3af8ae9eb097393e314ceb998
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:f78b0b5c40b6aa0fc5c0604eb40e685cdc4746c0c41eb6c65b808ecc20efada0
+size 20875950
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000023.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3e5660f1e4e21dab9d24875c5772677e226360df
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:6d588866ccb3eb090964ac5e62605a3009fbeb71415c763e67c62c0fc668f92e
+size 22706946
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000024.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5331605248c3b1b59b6fd215eac9c627983c69d4
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:83258dc57002e1752bbdb3a6fbd10ad9ab7aa3a447459d051e0e3796cbe222d3
+size 20777285
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000025.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8ec0434e842570a69e3ae6e77b9072633bfa22d4
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:3e7cf02657f9330fdcb1eddbc131ed134b632ffdc69fe252a6e6fd641ec41363
+size 21244555
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000026.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..928350aff7e57bcbcaefef7e1a8da14ac1866b58
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:a9720cc77950ad8b5164a38a21a2ecacbbc6f5f8ff89329e335a2f8b7dcc222f
+size 21064922
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000027.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..558fe745876ffc8e807dc191926532961b00ebbb
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:16a7c37760b028f07cd0005e26e42fd2cfa2848a027f4b7aa3a73e120535ebc5
+size 23611270
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000028.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..93183b527eb5554ef29d6c914abe5063d324a76f
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:47df894169277301abbf248ada8844acfd0be04e441e51181f6415b3aae98f74
+size 23719922
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000029.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..277d69b8eee0c5fb4b3efd4c38496dbe60c6beee
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:0e510394026d3e7650bd66d34cf318f4230721685bac39da7b65378e716f280f
+size 21455794
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000030.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b2c90e1f1bea468d1cb529db5397d6eb0f28d78b
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:a3a31eb2676678c1b46bf9b7043a6a32f5310f40751c9b376e9be10564b3bf1f
+size 22017144
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000031.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3c2657877c9556273114c7b75511f5b54abc653f
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:96119c3c58cd34776d07921a67a4ece474764a061544a10ca4eb0d1eb4064207
+size 26293917
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000032.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1846a108e73fab9c3923d676c1332b0ccdec6016
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:c2a577224599405c5091d25360688718891ee2e9d1c6c327b4388516cb57ccea
+size 19669222
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000033.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1622c531b0775d376155cf7562cb86d94c872851
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:25ceb2d9562efda16516439dd0f100d049166c9c3b7f392bde98190a498fdf50
+size 20699270
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000034.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000034.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f1ac26675599be711a1fbd953fe1c665544daa04
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:ffba5cef1c4326e4df563d8ab4275090aadb86c5c80691da060d78e0481da3e4
+size 22952993
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000035.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000035.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..578b4b75c981b6476a5aa96aa7593668118fc9e8
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:1cb84e0c1dda3ebeddf5b5747ac54683bb2b48262da24db742f511792081312c
+size 22410736
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000036.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000036.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f6514cfac90321344f1894b550c6f619cf55af5
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:2729718bcf2af17ea15daa20787d80abced65fd3261b50e746caba061dfb71ed
+size 35727760
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000037.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000037.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..af4a5d3dea9c7c9de118eba3022442c4b2eaba38
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:86930c4388ac8fddb2ef847b76079eabbd91d52992c82f7a4081323b13e94bd5
+size 23507595
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000038.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000038.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..99ade3c79e86eba96cd1006c2e9ed9540e4e3906
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:acdc879fb3694fb13d7a7e95f30d1e403462022b1e10c38760f622388d178bd4
+size 24713692
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000039.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000039.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..65af1f17ed7728b11ebc349eeeb6d72c0d5ac883
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:f108f8d6966189a6fb98e21af83db3924f427c020e89bd7d23d900c0fbd95fc3
+size 28092838
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000040.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000040.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a5217a5564d5537f3c1f9ff88eb63471892e350f
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:64ad9c7d613e4774761029ba014ad474d1ef6c42c726c9300154f85aa9668c2e
+size 22402033
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000041.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000041.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..025093286d520fda5eac23ad000801e8b4bec818
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:cce5b147f1e68971d4d09d456024751afae2a6cfbdfc4e3963f91454a9bf5e1c
+size 24834990
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000042.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000042.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c7816d0463a190bb4bf3766d616d48b3997bfe6f
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:a5c449dfce65d268ceff9d78624117fc773d0b17f67d126f7f3126446c6b1c47
+size 31416073
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000043.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000043.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..02588ed4abd2a5060824858f8afb6c1f6f79ea9b
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:533818ca9240436a754734a33c9eea6abf88c8024d07c6013d4eb27b1880af53
+size 26006848
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000044.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000044.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..49bfdd44d51863a50d7c1e08722ebdcf2adb83cd
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:38d76557efb81a0937404ec98b6120e65a12e9a2cf5b3fc7b3512f35e4b71421
+size 25825306
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000045.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000045.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f2f00950f45b6f2b0f3d794fdf7040011cb35189
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:3bcba5a7de4b413b688b2e84143152d03f987c65947e661a38ef58710cee2417
+size 24375413
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000046.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000046.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..26942860729ef4ebf47d8b9f992b0d8d762adecc
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:0198a6f299a5c78ddb5a6e960d5ed741f704fd091da8db205945a12988c30b0f
+size 23998450
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000047.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000047.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..44198d0c288c1182bbfbfff9e5e5401afe3273e9
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:a056c2fb4e1d1dbc39d57700c91b53f29849f4ec8ab89e84e741c5377bb830ad
+size 28492889
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000048.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000048.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8c94dcc0b6cf075a9c04103343bbf34c789d645a
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:c80dd395147f5d25cd1c7fa8057c109ac48b87a54181af2c286d2fc7ac4e066e
+size 26541878
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000049.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000049.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9a365731b4bd12de2f11b3385d0c6a31dc6aff73
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:f21cbfb6c3e426f2b7a817623f9a7c1c4513a7c14f8979e73433f7f68f6aa285
+size 24565396
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000050.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000050.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..70b52a35f47db70563fc65372ee6839200427373
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:3c3160554c503f6fb153ccb6d3af9f580590eeb770a41667f209a1fb34f03c19
+size 21098948
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000051.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000051.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9091e5f29278eed774ee2528104959652f31b4b8
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:0382971cd5686f1c1b05103e6e6d2142fa988f579f17257c82ec44ed1e09dae9
+size 23291412
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000052.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000052.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..91f8dedb8fe915e8508dcdd57fae9ea5018cf508
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:6c391341c0e76e3ee85d43447a8bf7711461de817a5d38712e5eecc29eac174e
+size 23375887
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000053.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000053.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..011c6639a99ed4fe1a6b202727448906556893ff
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:2f06fd7b53302596d1d1ef0b9d34f007e47342419624f5ccd9b88494bfd23a50
+size 22803461
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000054.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000054.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..effaa10b04f4927b4ab0b1ce73bfa3986fba28d4
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000054.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:398d0b3fa0dcbf91ca68a28cd3a4e16efcf3898e63dd956efd67a241991462bd
+size 20876804
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000055.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000055.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8a59859ca9ae213a5296fdd9c91ce67d69ccda7e
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000055.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34236b366674667e666d328b2c15c2f20c70207447fbd0d754e950ed6cb88d32
+size 20423633
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000056.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000056.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a9477d3da174dd3e66a29d50d19a1e1ed437c4cc
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000056.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d987ed7acd5b4af9efd1a81a0eec7b935a1444ada235d1bcfb4de9393375833
+size 19947855
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000057.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000057.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..17a5babb1a75fbfdeca42b5a1c50decbd00e4b44
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000057.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c948004512f4cf42e70b13ec52cf61577476aa11e4292f9a9205eb65a08b4dc
+size 21481273
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000000.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..73edc867506da1b2a7ff228093edf623e063cbfd
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:87d2d15257526ace282711a498dd5d37542379f115a5713b2d55236609670680
+size 1124197
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000001.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9755afe91b6d1aaa8d7d7662bf236be0e8557c5c
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:8dff4fcc7af44fa9049b993857f52c363825e5bef41c94488f26376f10569029
+size 859960
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000002.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..395db9ae985f5051c317a50157c6cf2444355176
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:56a60400a12d6e6d60b39dd58fed76e4a6d981e5570777a6dc87ac9a8386998b
+size 1255686
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000003.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b982b3e15d00be733343a60fdb515b3d32b4eebe
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:3483805faec1b1ada237681421ed002e31ebaeb0d722bad7c64aef0904e3e5bf
+size 935017
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000004.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5325dfe61610b1916ecd504ea4e8f49fc639f109
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:13c57f043830d8a5d327ca1bc0c579bb2a09b60c5b1169e49da4a58853500605
+size 944484
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000005.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bbf108db825c911491c9cb3fe3a78717d956109a
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:911e282adfcf25dff4cb8bfb8caa40387d3a4b29b7f84e15a456bbcebf16ec2c
+size 1608618
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000006.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b6ec8791eba94f6834820a8f6119a53b4974f09f
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:10d260448e6c6f95e865442261d76d28d18edf9d7e8d619afaf43637bd0eca2e
+size 1337061
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000007.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2692fdf4e61b1f9c9e2a9667bb28cb5b176668fa
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:ff9b820750216a74cef1dc2a69e8e91dd5d2cae16172a4cfa6eed40fe7f8eb5f
+size 1152447
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000008.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..befaaaea6518a256756da688667cf0f0e54db76a
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:54a6c2ae92aa1cfa03dd30fe34cb089f61e22b3b60d0cc57c339d2ad5be4f5cc
+size 782615
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000009.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..897bd99c050c0dff136126f9bbe9f4dc7c520787
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:a4ef462f20aacbbe2310805357ce88b53df6349f3b22c21bed4920bb6786a4c5
+size 1080792
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000010.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..00f680522f258a814364f15b00e8a798e96f2158
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:3fa39ae7763fc9b2b18565977e18dff167c7b50c04353cdd0454f7c017b9af3e
+size 846145
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000011.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b9b095ec5bf46ff55f3bdc8f3dda7c5fbc9e33d8
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:47b4bd0e7d127d433b2b095de7ee1931640f2d095ef1af670ec2c28442d20bb2
+size 852087
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000012.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..036a7b92f949572d4f090fc2f602fbd2c19cecf9
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:4974652e495072b1c19e8ed66231900fd2ba0257b94f7d7c21420d2183cd4758
+size 827025
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000013.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e40fc4e436a9068b33c1e400aefc495b925aeea2
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:563e9d42ff46394db66b9d91c0aef782054dd4163c7b1978b241683b8cd4a35a
+size 1092945
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000014.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d2b7886c212dc7022c3ee1a5a34fa5da94fbd393
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:b25c15387f9ea3c699b5d7cb2846f5a5672c9df3026025c82bf20791f05183e2
+size 1078568
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000015.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c32c8d699de65d595e47bd84c0a8cedab0658bf7
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:80d465c3633b6895d16ed21105ad76d6f660f33b8d1de56a790f55a8af036e7c
+size 1123616
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000016.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..de83506b23b660a839a6fb854e310ad2182bbc94
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:9700471849b0059466eeafc0c62600552df4fc2a529f9915ec3b9300cdc7bb90
+size 1038649
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000017.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..719f121d101e2b29319a7154ff56a00c7a2a0ff8
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:da31a9d8180d8dccfc46fabdb43ee3d21feba6fe2b4fb682744865ff2e170ef2
+size 1360491
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000018.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e92d0db028bc96709c9f0ce7f4c0726ac62f7261
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:98f553c33879bd58f9355070a8dec46b2e933d3d18ab86e24f85107b78998d7d
+size 1191989
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000019.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..93561bcebde62f3114f56ed9fdc4e7548e722d32
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:a203fb56f89f6f1ebadc2eb82318a39c3bb591133aae0e53dfc40ee614d10dc9
+size 1071129
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000020.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ed2dd479b2716a7304e3dd95795ef76f5d6e9086
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:7c8da8d982cf887d2181820d73899c4e2aa81767b368740fa8e2c3f321541c63
+size 1360028
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000021.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d3fe11b8045b95555549c56b0e1e4cc051a67c91
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:d0d2cc6bd34f192851532b2285beffbf756b104c3cc3897602fe746b2838eaa2
+size 1092881
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000022.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5ba134f5b4d0b0b7d162bdbf03c8a3d079071f56
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:7dfe87da072ce89bfa1ad5e89a0bbe78bc07feff1bdb59dd5ea7b32ba697aa99
+size 980387
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000023.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..debc532471cb120e2ef672538b8faa6c4f251b8f
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:04d55e4a0c394b3f9202257d21079d8499a7f8130f292904a4f4c2385f5dce5a
+size 982571
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000024.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e88ec5995b52b1afd0a2449668e7cf62d2201444
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:772bed6927a27ee6462e75ab6d0f257c08e209be863dcfe6c165725a0756c00e
+size 792459
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000025.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d3f2f3bb2f55ac9e152fe9c9740c90b7a8414119
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:608ece719dd1644fcbeffa31600c2a0c9f6bd9ba225a4b85c71852b698e57607
+size 1154711
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000026.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6cb7d64a585441af088b51e05d7a1239ec9eb16c
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:5af8db7afaa7a837f92edb45ad751d88a7f36122839793ed4596945b3c7d3a07
+size 1177071
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000027.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f4c4dba7094362d415f71d9eb11961893c005b1
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:8e4f896795a7cc6f1d54d3fe04911b39454482a2fbd5eea342356c01c2dd1531
+size 1414985
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000028.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..137f63124617e43af519a382885918c527a16fc3
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:bc41e08e9f03d38c7fd5d28b0dd6df8ca64db2b234d7b4701b2f8b0d10dbc071
+size 1166020
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000029.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5bd398573e0161e6545f89eade63a87f0e87f4a3
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:5188751fc151accc278ad79669dbdb8fbadfe48e1f20a818dc86e4f336bfb118
+size 993353
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000030.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6f64289b03cb4738860f2dbac140a2804f274a2b
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:ad7c1f088ec3ac14bb8d14385044c58c2cd63c1a442c21be18b40daca718feaa
+size 990115
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000031.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ec73cfbe037a2ced519f304535ac978ad3dbead4
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:4e115d7318a946aaeb02e1fced65288a80def992d4a6da4591522a28b3ece925
+size 952996
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000032.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7223d64c5eafe1992936e89ccb3ae95b4c97bfc6
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:3c60dc77d25f3c3a019b59852cf0510a8e2733cbdb077df34f1346f24ad1dea0
+size 793994
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000033.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d549f8adc8341ed7061c1d03c6ae4885e3999a7
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:237cb14d2fb5b6b0aea59b473f726d924319a0dda589b58187265bbd1aa782d9
+size 1041599
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000034.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000034.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4ceea5ad23c3e9306e623f96b356a3224a4ec1a6
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:845fb44079ce7efc63e3105bddde98c1d956d99f512fa1f9d61fa207b3a60a27
+size 994741
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000035.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000035.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0376e699c65417bb084ec28110bef3d1a2503477
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:be5fec3d3bdbd64705b94c7896497851fd9cb2dd479b3846d99424e7079b8335
+size 976589
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000036.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000036.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..41bf4b99ad0dc9251bb9103569cba818b8718a52
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:8f90a8f1d4a23b7973601c889da25a0069b4849bd56d24bc486002d4d7ac3817
+size 1260206
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000037.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000037.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9ab724f0c5e4f5844b5989f99bcce3ff8cd7ead7
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:a9f24023604216a27a45e80c19a76e7354fe7d5c687cc4671dc1172895550d2b
+size 955017
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000038.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000038.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..abb9176b9741b250f79436cc0726fc48a3b4462f
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:c10426ca6f09d4409056b43aa10281e9ec4731a3d8a045c3eaf6cf420e4014ed
+size 789163
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000039.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000039.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..08b5b170d6eb7b8cefbc0e0e55eac98afbe69e49
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:6eef5eb8e6b031c8fd216fe76088ac1eb40e6eaa6499b830a23d6fc0bf822e5b
+size 938404
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000040.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000040.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b305e58c86ec6e119fee7b33803a4ce86b7d0115
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:fc93fdcada99905e76c3b110e0116a694e64e42b5c7cb7506027ab12992320c0
+size 1041057
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000041.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000041.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ac490fcf5db0788e5a3df3327a8e75dc039c0384
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:6c72bd8eb0f308669bc92a70a40cdb8a33a3ed3d659ee7c060a66d6581963fcd
+size 1032880
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000042.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000042.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d1358f8f5366e0b5e7b4858ff6f108875b4b40b
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:d24f0738aca4f5d71342b2994d0e7be5ee784f7cf77273c957b7ea4d0a0efaad
+size 1779873
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000043.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000043.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..913339335205255abe70e769777b0de8cdc6e397
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:bb4f71dbbd787b1909aa07d2c1c5a0356f21e6fdd7ab6331e09877e8c3289a91
+size 1434527
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000044.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000044.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ceea62abdcf4925a1cc59906f17c960c1be5c3df
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:a16d8931c6b838b78b13b379da37d8502308458dd7f8e9370bb0aa99051ce2e0
+size 1248602
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000045.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000045.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b8f71c9542977b327e9c112928f69ac0532e8c61
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:57041a2d359b3ee3c59c14b2be524412e6482c8aa51ddd2d871d9e108dadb736
+size 1115514
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000046.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000046.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..db5e38794db40f41dec71de47d9e2b69fa5a2942
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:9cce4db065a10190acdbfc653c149fd0a5ed4b25f1ff9c3b45b62ace09d3d973
+size 1423584
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000047.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000047.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1c3cf6cd6b4e68e602a28d035b6aa630f5c61cee
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:6e7973081944dbac6844303da800d15de0ba7ceb25b58c99a486d7cbb11c60e5
+size 1969511
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000048.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000048.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9b035fac21b6fe55ee470b05e142fca9aba27993
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:dcbf2eb0ca1abe5ca9a455b705377992894b03caad9a4eb8c6ef4a796364916b
+size 1247481
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000049.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000049.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..583232705c69a2846636659c4540eb57c30853ec
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:5dc5df87755887c3628d0fb2fcb3df9b3976fdd560cdf99b55e98acf8085e8f0
+size 1175397
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000050.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000050.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7920542e47a3802548d67c6f153298c98179634f
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:e1c7d80ea3907a41f4136a8104f1e5bd21e5baa5077fe3d15d941ec2322d9e0d
+size 931523
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000051.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000051.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0342c5162c305119f59e0b722084e606b8234a55
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:6c5ed07c8973efa94737328bf9e57283e2f5977c4eff4a2921d5e1d4aaac6d59
+size 1274459
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000052.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000052.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..88abbd27877430114f7613f6d28daae5a6d380de
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:4dd08a3a137d5d3484cef8521e7d7c9eb7af309e55ee4daa626442b7579f5f99
+size 1041396
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000053.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000053.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1bee9e56b1ef25d11774dff6a8539a1b59d8b849
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:e724508f64150f7b3ad9a981528330dbde8ffa076d1fbf5c48175314f5c3c9f4
+size 1437161
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000054.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000054.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e19be82104f290766c99c78ff3c513419f666c87
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000054.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:399026760b81e4d4ae6f03ab7520f2b951801b93d85c7b1ded8aa5203edcfc2c
+size 906323
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000055.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000055.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1ffcf95d65f578d785830d23b65212b918cbac9e
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000055.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8b70bc5c07466e6992eaf8209585e863915a0ec2faeb0a2330f160a8e9bd55e
+size 1023685
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000056.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000056.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b3ab1df90eb86c9ff2b7e9994f45395d5e4faaf5
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000056.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29b76ba2901f195783d152536bcac3d176884744c853eac8a0f28ebcf5d8c743
+size 1043155
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000057.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000057.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a87831689f021ac8902c5139b0ead669d84ceee5
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_deform/episode_000057.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df5fecc993e9f0d368e025a7f50d5bf82b5a4e157431d119eaba658fe050a26c
+size 950114
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000000.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a398a35f530b6b1c0e1730b6288f6d01ea2d856f
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:974d1dc5b540d4d20b1904b4ef485adc046cfe45e48162cb336d74f63146efe0
+size 105418382
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000001.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3f6f379a7918fc4fc675b445ff38853739d4b412
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:2c0a4a952f6d8bda7f0064874cbf3bf66603eb7076a09b4daccf35b27f5c8471
+size 96213841
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000002.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0d2f9dc728ea2643ef612d47e22735ee1a5678b8
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:c7f3ab0480c41f95515e4c404d5f73edb4e804b8fb15a6ce9f8101b2c1b7cbd6
+size 113929663
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000003.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..775bb21b77a0a2e75894240b888fbb843fd3b4aa
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:6256cda9f89f4cbcb12ec8d2e1dd5ac5f8e856855009bede1aa65078b5365105
+size 105858452
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000004.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..53af74f9630c333d88f1248051d4be1cb72af14e
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:06762422774749ce84786aeb3781387365e7f385dbcefc9d0a5fe9f3376bc888
+size 101933273
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000005.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..00ec22fbe2215738d55058c537115f5a669564e6
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:2a3549317638b81921d1f925e3560d5c49331482d1ff067252e8e7caa4d44ddb
+size 108905475
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000006.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..220d5e1556861199aff094225dace9fd16bead9d
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:ed327d6694ec5bda853581c4102ccc8e375935f4d8fd95eb07af12b74457990b
+size 95309708
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000007.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4c80e9ad9683a273d1d182a9ea920ef943fa2cf5
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:40da05fcc45355bcd853b2e0e5395161b116b1fb147d04efe01c91b18b9f5568
+size 93552895
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000008.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0e069e5266ccc3fb748d59fb8cffb0ca9fc358d9
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:db758ca838ca69c78ea28963f34db151a930f80501b46dab37e03c6b6971e509
+size 94964483
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000009.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3e0bdd8084ed6e13b9f11cec22343822d5835e05
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:c6ae50147c657ff74faeb7e66364809222883e5c703a0d8826ec7e98fbe08275
+size 105282619
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000010.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9ddcea8fe122d771c12950da8c47a8f1f38eeff2
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:3c53c15f92f112588337bc9c1efead0f732b70ca51cdeaf72bc643ba5bf86e3f
+size 97063925
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000011.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d094fffe9e94e152ec53c181963cec366867704c
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:7a34730b674521ba92e15906764124d391a6fc8b98590a1f1ba89d578a2c518b
+size 104748285
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000012.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..457cad0a3cf0efba112aa39a8e793d72ed32b9d1
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:aee96a0a6131403527ea22c6b92242b8fce0827550be9b6886c422763822c0a5
+size 95878819
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000013.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6f586e03fada66fa41d0cfd1ebac8b877253c674
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:c81ad836ff1bf04a87b65576685b6a162dcb2309bb4e58e29e8f291662288aa6
+size 99761398
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000014.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..90b7d78c595eef6856747c03af8beedef4359ebb
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:f21ef390a73f6f42dab47ba8d3a49c4645624f8d00fb3d1da04e647795cf27f1
+size 94406734
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000015.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9228b808aa78ae11b56611b7b400bdf20055888b
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:5eb0e7829249fdd60100549f1a3b28a0f0bc033b7ac0599f1b72f131261a6412
+size 95611657
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000016.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ac8ad9b11d591452517f28ef81bc9530cc11e57e
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:138e8d1f02e268eb8711b866e6eada8897410eab61a8e2e3cb993e8709a4834e
+size 99565603
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000017.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0656a38436eda018983aca31e60a77dd2e7be8ab
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:273746a773314b942aa3655f031297be121d790edf4add9a1f8d19cf5c86c2a6
+size 103062741
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000018.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1000188849f2cbcc17d0fe8c0c4278c06d3ac81c
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:594d2241ec7f4d0ee7cd47c46d4f1edf451176493588bfc87c215bc751fea3dd
+size 94429826
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000019.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..50fbe5c027fd70ccf344157f3b25c6e666a18935
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:f3a599d6a078ada69548c3b356d967b59b2dbe8f5420c15633eafca10bf13774
+size 91082753
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000020.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c51b4f125baa9ecd65060c421ef134103a2f2eb2
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:3c8453e6037a82ce9abe6330341488efbe45d06ba721b97c0f949506f5dc4528
+size 89915922
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000021.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3acebe4b9cfb759375652461f90c851f36e4aa52
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:81a608fa56cf6b3f0d008986d9656384ed5dedb200f32ed615ca60c73f32cdd5
+size 89506475
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000022.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..88fc939d141653e1d659ebcd0bf17c9998a3e254
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:2c7ebc653a6793653d1c7e6c19659fa2f303d864c1b2c2e635d0fa6b5f8aa9c3
+size 89046362
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000023.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6eef57b292374c19773ff3c176cd39136ecadd38
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:11aa5135e5d81f2a0de7758bec9dab1144d9a1d3497c7a7eef0edeee586ae752
+size 97541756
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000024.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ea2afff7783af11059cb9d00c29259c40f154faa
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5a25ebc44c9ac5444cfe84c5ed8991d14d70ff7c7fdeecb950fd97336b5675c
+size 87342938
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000025.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9d392cc4a549a79a7654e46e8b5f79c139fa9629
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77823dc810bdaf222e655a14b5b45ae3580e825fe561aa44c614222d7dc5e4f0
+size 89745159
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000026.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..040ebc3c1cc007faf46e27fc245ed06ea5e0b527
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df68d213a18adb0e8a5c1ce6338061ab79ed38cf81b54405a0f7de4f10d4612e
+size 88982093
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000027.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..811206005960079d62f0f137e308d86d75025837
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afd715d90ed137e315f41fb1c88d1291475fae7bb0e49290c45975495ff40a37
+size 101078697
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000028.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6f391d32bdf3bd1ed8baccae3541028999c05328
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76afa9ce7e4ff7d7e46fb2a7fdde288f14da10934f74f941d45d68ebf3e88a2d
+size 99355332
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000029.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..096c89342818d7361aaa2961fff401751439eb19
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00690771c7a79c93ae91f90d849f13785eb37fe3cbf5c03e7c19fbca8f6f43ea
+size 88087621
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000030.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2c6455c0e7d2ae2fff50abadbd05cd574e2fc212
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e002e6fee532f0183f64d1b2f61cfff084af1843b422cca0a62f0fddc115e66a
+size 90386722
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000031.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5fb126b8c56eedb4ae9a61123fe0020f69ad0eaf
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b5684d4551eccbe28904a39f22c179fdb617067d16f5086e22d03819ce66c8f
+size 107156787
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000032.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..79bec8cd886a8472e48a7c42f123d5c9ee538642
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec4a20ed4f2f8e9f3a2346a6e19c34bb96866fce6343b89a286f30a326052b7d
+size 81277001
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000033.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c4c1f6369541dff5a3a11dc11a8a76721acf936e
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0daa1b5126e587b51033d9e75151c4fe91cff22979fc834d7f9ebb320dc493bb
+size 84935904
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000034.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000034.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1116a8f3365addcd2b9239d8a8760c636f0b38ec
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000034.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c4833be8a6c1e0b2bf83b84c809393e7bf714b0e82f14f20a3f237414156e68
+size 94345253
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000035.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000035.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..881f1d416a211342b6f013a773c50e2bd04d389a
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000035.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf9a0949741a2686eaac5bd786d161a2708a30e938f679f8559076600c26f26d
+size 91678166
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000036.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000036.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..20aa190000a96b78361d6c358dcab326f8bff30d
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000036.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e546882e0e1edadad4a1421d0f7e7de3da73137df9821008d4bf9d0ab333dce3
+size 150337499
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000037.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000037.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..59cd18a5a7608c81bafb846661ee806294ffb0dd
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000037.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0386f1f44e3f8399b39970fbd9382fb841c3b5c600e54a1f4217558127e406c
+size 93480561
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000038.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000038.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..222454ed4409047f3e472c07422e05439909d64e
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000038.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c29a7cfddbc4b3df1af53a41b410b64d529bbb8b749a584e1ebd9547010e11c7
+size 100469883
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000039.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000039.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..06fad99856448354ef4eea729499ffdfce5540bf
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000039.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ef310110d81c33b6768d6150e807c51251a6c4c4e2a474fc1827d34c9c6c9d0
+size 114133794
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000040.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000040.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..61e3c047d5a7eda0659a4273a386bbc09c7de862
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000040.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abcc3c5405e67d98365fe23e07bf84790edeaf503a164381d20ed93865a174f3
+size 93487937
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000041.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000041.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..439fa9903df052d627b9ac49d0ec5f6f5a91510c
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000041.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a570a35a551e1bf5feddc0afdf34842d13e654e47c840b1609a949888f39937f
+size 102252234
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000042.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000042.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..155f0bbf5514d0a018f825948592de906588bda7
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000042.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5fa2600f9018a4d563776622d67f3687c292c1fd5e81decc9011b7f5b9709e0
+size 129868936
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000043.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000043.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9c29f4e8a53bacb76b912bc4c5892f188988e275
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000043.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:275228d6c4d7e408b0819c0b44b88a37dfa87fb84a0ddef9f2d16f16d3f4041b
+size 107792494
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000044.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000044.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c18be8a088e2b92e438cc5190889caeb9a19a07d
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000044.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:528c9618d8905d7ae0565895dcf4be9c8632ed11b1c7660e6d010b161d447d48
+size 105394117
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000045.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000045.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..22c856336d1cfc9fac8d3ee5c19179daf085e2b9
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000045.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46810e07d016b1c543954884159ad616a5e4ffd4efbc85c6d6e2fcdeacd3ccf0
+size 100803372
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000046.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000046.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cc5755093fc1e86d317aeb2be852729d8e841ccd
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000046.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45b9e14e9407af928156d2487b9ffab9039315656db272c13fcdebcf9bd8ce28
+size 98924065
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000047.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000047.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..25825d3dcb0ce2812bf82b847be14c06e4146307
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000047.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b1ee2c7075469ef0d320334b913da5b947ea21cd2c66dd38f4477b4043dbf3d
+size 117871124
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000048.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000048.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dd05f907b9cb68b7727519c48041b7533008f098
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000048.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e473cf71c5c7badd6a58c4bc298e079438ddc61dc7ec6861b1e1c667b0eb622
+size 109844536
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000049.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000049.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f41d0be6b55076882c5056733a85e7abcdfca0c8
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000049.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cabae1339cc5107c57d764afaf4874c52a04ecb859bf76599940604b49337c9c
+size 102367379
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000050.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000050.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..713442ea3458ee62f9a52d9e8a485e1fa69f98d7
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000050.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7aa2d55383ec0139d295a478d21ed5c788ca6509b4ad253b2ae09eaa55c364e6
+size 88047188
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000051.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000051.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fc44fed46b8dfffb02ed414261281700919888af
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000051.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:331fc8677f4273f74b41a6697dc18e85136abb7e4821051a78c2e0af6ef380f2
+size 97550015
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000052.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000052.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..498374ffeb5a9ebb2103a2c4728d63274c98e4d2
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000052.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27f0c40b520126874977496abe7c96846b3231a784334e722b238d3e5a11d737
+size 96251140
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000053.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000053.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..58c1fb4bea8217b2cd2b7e6703620afce5877da0
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000053.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5f2146990257328b91c96f373ea49ab8ab50efdcad829dbebb686697ca28912
+size 94784570
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000054.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000054.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e9945e5c5dd08994a15ea89181eda16ccb52fe6a
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000054.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ada928dd106e3f181d8cdd61d90b1c3ce4f88efb9caf4a5683d4d2db04f2023
+size 87101244
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000055.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000055.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5053122c9135e3b115475b697abc8fe558698685
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000055.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac812f1a6e966a5ef21a50819481b74b66344d744d8e81558436668fca71f8bf
+size 85341314
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000056.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000056.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cdd8ea291b2e6f8c561dbcf0e15f95cd11d57670
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000056.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddd3a3f7943aa4bf097b14c690bb53ec94dac238d9516551c63a271243312d8d
+size 83605352
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000057.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000057.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d18ae2827875e9d900246fa6c2b28da91c6db1ff
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.tactile_raw/episode_000057.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8fcf4fce2b5aadfe957d60259ab9984db765f5a17eca431248ca0bfee9cb162
+size 88635266
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000000.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..29397c469284169c04511924a989b45fdcfec433
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52d81532d1c5d07735a38af41d8a1d6f85acf0489e47ecf176d310122a6a3f94
+size 30711804
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000001.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f82542d6bd7911b40663304e93e409ccff5f3a7e
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9db6d041d7487446d0d4ceb0ae8c9be662cab3d3326801dfde4c183b42ba187f
+size 27587357
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000002.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bc029871464e93914633ef5ad09b4b5aea3ec83e
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14c8d7a3559a7883c1cadd07635c200bb7fdf3e206ba3e4d6fdbec5a81400fb8
+size 32505844
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000003.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1560b657503a65744d827ef15cc584eef813f527
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:198e324f5b4ff3c87b041cc3c66ac0e395af3f82f4779beb9af9b240b3b5d424
+size 30683233
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000004.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8cd2b84c6928b6c4c73935f39f94067a05abd818
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73743ce62cdeac05162b7015af03f0bd95be7fbaf21460a75eb05b5f59cc8de2
+size 29870359
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000005.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..20a294f53bfd2aee8cfc63c628a8d4af8b7581c7
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4850eba4023f5a8efd962c4e1558cb743edbccd4a63ee78ad432a0b6be019886
+size 31343504
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000006.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f1f9c66899cdf6daf0d67fe0d6e5a9141ba6e44e
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02b27431d077e8164a20744a66da186160b53d9e42bd5feb8fbf5eacea6efcda
+size 27021981
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000007.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d9b1f9399f4c794b46eec98b3ccd3469315216e8
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:963f21660cab6427dbafd617f7db1a29bea25a6205b423efb515b6daa982b595
+size 26801006
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000008.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..264d1d7d27d07ba122b5a2661297329b308751d7
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a3a83e2cffbc814a6e75e2cd6b9878f5f4d8b08440058f68d163b784c42d443
+size 27474863
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000009.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4cb90ad33d7c5974b50539f4d4c648fe1e8e0f69
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91c9cd11fc43246c94f808f4bc6ca7c610ffc747b2710a1366d582d866dc9e0a
+size 30001187
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000010.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8dd91dd7105ccc7a4fa5e4be63fc0fc24b0b683e
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f33ed0334b35d5f458ddbb6890e52489a9a8b5455afaabbdbd681df6c1f93f63
+size 27496513
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000011.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e42af7692577085e398a1a935257ae85021826b
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a092fa2074e1a0bbb2626a00f822b799d5ba7ff1cf05c9cd8e15629cf5e95d8d
+size 29667206
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000012.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd63571187ba2048e27d505cecd6d04b07c8bd0c
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12e942ffe38e69f136c39bb64e8a9f8eaf532b9accec413ea81a50f143787ba8
+size 27562677
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000013.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6768d72e7a45096dfb5bfa88800de9f9e705636c
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2796e6bc2e0f6f7ee6bcb75893978b3013fd5d88bf912ca9d414bf35ab44aba
+size 28569585
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000014.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..adc4faf2f8e66e9e943277271a65cb9209db2a90
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9e5394856f17b9e0fc07aac424f628d5c28759a56aa82aa09872a63889b2a8c
+size 27234511
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000015.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e5fe4e9243eb3879bdfec0c6f72716cd01821168
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e237ba627dd0983bb37dcd8e9a53792d5466f71d05f7c9551dadfcfcd4c43e3
+size 27891874
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000016.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e3c7ac38f3df9aaa8f94210d4d7bd3873be3d861
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13c76c99be3c0671d6ca1ffb14721803a42802f2c55392a7119944218545efa2
+size 28661097
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000017.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7bf403b609a3877ad8bbc101e9e30c565bdda893
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edc54856187c61874c00561bffef9a6d48ec096418617fa9fff7d8857110dfd3
+size 29794458
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000018.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e008e2519cce903873c317387eb1f53e86dc562b
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4425a59c0e678c3e1eb75f5d5ebbdee33eca77799a811939b0fc9628181f94de
+size 27417675
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000019.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ce5e6ff32ea31096f51e35ab4cb55925a35ae473
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93b9d5a690a67b5501507319c34ef0860a5333329eda3ff206fdca349635ef12
+size 26385923
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000020.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f3409578a83bb6236d12785ed388690526a694d0
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:299acfa71215a3f60d8c15acebbde0f3f147fbdd065c25d063b90363da93a200
+size 25889809
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000021.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a05628c9618faaef132d1f83a11b97b63b66ca44
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e0542fa32721e167996b5bca4232073491456cbb2a42a8d01acaa0a23fb8901
+size 25661161
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000022.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..208526b80ad8a4174c8a21df2561938e5d0987f0
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05b111972972532c3d5964a240efc81f182d2437902eb0db4190d54a684ff7a2
+size 25904784
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000023.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a9f57a8f76dfd2ddf5c4b673b165dc76e814ff4c
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e56a80eb3da14162fdbcaae6115c2c79bcc9f055b0155aeb768f46ae6edc61ce
+size 28330682
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000024.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..10c03b6623298cbd4ea59ecff7e64e3c18563dc7
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d869f119e502a59236932e231e0723a726160479fd06ab183511e97011a0b96
+size 24849305
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000025.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aee535c51293d5e0239b804f211fc20d5ac04d30
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a634637fb9c11b6704bee7cf314adef41c5974235096c6cf323eb41acb4dfcd
+size 25807343
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000026.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..272647d6958607f8718f0d53e23178a0fbfedec2
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:137fde984f16c0764fd9ecd2f3f88ff147d37c939982ffab17960b43eccfd607
+size 25811403
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000027.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2f16091ed649e48674035399ce86bd0c140c6bea
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bfb0d4a5e910f2d87dbdaebe76c97fce5915368334285c3415885162da9e3d6
+size 29033768
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000028.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2261cc911de702296c278bba4bd54ecfb4d7fa34
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b6b596b19d32500ed9a7b7e7b68540db4c656b21cf1e617ba0839f8ea06af1e
+size 28787601
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000029.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2594386cb4d84232acbe9855b1c68f075b0539dd
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b93154369511bc4c39e35fcb0129e8598dff5c6402ce286aefe5d487dd98b86
+size 25413419
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000030.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bad2bd7c007adc60981567d744ad6215c404d7b3
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc8f399517a949a747273da867a3ccac60db075a7a4ba612e57d1cc9bf49732d
+size 26060426
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000031.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..934673562fcc79b0602cc5202e1c5d3282f08833
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf36d656f4f4e4b81f1c018f89a29b33d10c0310217e237b388626fc2fe01831
+size 30576025
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000032.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9efdff9bf22878e352f8ac200bb583c60c65ba68
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afcb5d56b1701cc294e5bdc36544ea48128ed827ec4a43c52e50085a376086ca
+size 23256568
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000033.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4a6f790bc0e8df71a43587fbc999065b5191e22b
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e256a368193cceabc755cde18c6d306f5305292a45a3ae34c5caed653a8c036d
+size 24264909
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000034.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000034.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a2e0117c286a797bb1c95589c23dce1d03b2067e
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000034.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a54b19ad652650e01ce50a2b6ec0a5d1ee74544f3348b8ea30b568ebab305624
+size 27113650
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000035.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000035.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..47da350580a48677a79f9abf7e98f8ca9b655d4c
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000035.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3263ca3ab1d36c57ef71ada2081ebfb5cfe958048ece484e629fa3880cc6942
+size 26560773
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000036.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000036.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c6131837afa49a95541612434fadd3bd8f2e67e2
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000036.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9e812977053377faf9254a19bf3db2319d236dcfe641d090cf5a1b47a461ea6
+size 42649020
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000037.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000037.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..069fcb7736e2a99c781d56ca7639fd2da7070b0e
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000037.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61a4c76113984685d55bdb1c7e81e8c5ef48cd73cdb074a59806ce8e164c4e04
+size 26906969
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000038.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000038.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ac489b3025833175363a3ffe0e33a01635c0dff3
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000038.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d2947d74989d6d669fe8ebe2fb18f7cd456b74c8c50f9bdb4c51e0bba110036
+size 28808907
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000039.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000039.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7c75f22a14f04d50513dfa4a1f73a060083f4de0
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000039.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2548fbfe038fd185732d4e17bfe239ef0424500676ab4a79d317d5196e216668
+size 32998851
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000040.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000040.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a28f10338bf81cd3fd00234acd3ee5d38960a82e
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000040.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4731f1cd650508d79f36d9d4bf80c01b6424e966f950c97718a85f1fca5a7cad
+size 26659566
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000041.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000041.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8c8ccfa9cce7173d55a76012242c3ef2414c01d0
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000041.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59c6d09224c248df58474d508883d06a5119d00d1b2517c7b1576b93dc006413
+size 29850352
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000042.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000042.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..54099b8a1e8eccf87e7b1f641ca5308df13228a3
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000042.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc598bced17011fd5e24a43632aa8f4b64bacefa081359a1bd77ead483e537ca
+size 37811205
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000043.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000043.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8acc77ae2a417944a8a16c1ac37d783ac482b7a9
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000043.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:680652e188bbdea7181fa2fdea22746906ffb020d49cb1a0e0f5e4703e721ba9
+size 31526774
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000044.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000044.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f6cca7485cd357e440e14bd4c0654aaa56d23a95
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000044.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2138df8664ad1e30d633fdd7bc62c46890832c4e35900b485c719a7c6b95d8f
+size 30639270
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000045.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000045.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4679ad8cf72e1aa0ad03e1380930202e02773073
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000045.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:349e080eb05b77cd14aaff105675ef7b93cfa8f87de3abde3e1ce295fe0532a8
+size 29383357
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000046.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000046.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e0d40c1024eac05c35049e4189d587ddabd05afd
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000046.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cce2f2f89f81cb111cd9bff7e498cf3349c2c1452f90ff2a3668aee4a02dadb
+size 28574456
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000047.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000047.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9f165b08ac4bae4d424baa08e9d13a2dca75c5a9
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000047.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39dacce04d49683ea7d31f7d11e2f9d111fb34fa2d3daeeee538861d39f484d0
+size 34182540
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000048.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000048.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9fc30c8495f0d76a8c2dbf7b90e31add6a049270
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000048.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57dabaf07b002d00e3eaad5a73129feeb661645b3c3f610945fc0346673ddc09
+size 31984316
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000049.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000049.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..92b5fbe8c905aadee9aeaa2036f845a0107c62b0
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000049.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c9e3175ba3350aa65eaac2bae45b31ee14fd5bfdbd25256a2ca95e96c22a7ff
+size 30084409
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000050.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000050.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..218b5a0354a553c1577f671652be2ce1b4e12d47
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000050.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62b957c2557ef1cc289f178226bc77266d58e77320e857b6092f06be1c99eb23
+size 25822177
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000051.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000051.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bdb3f9e80fe27fe6d37e1533158162ef18525298
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000051.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ded4e0b60cbb30d2c889209ae94ee354be61fbdc0272a6fefb009e839eaf9557
+size 28552015
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000052.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000052.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ffb7ac2370a7ab467569703d8bed2630eb17e66b
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000052.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abf6d5e05bf1591a78a21260d6d3de44c0d10dc232a280b4ccb41ab2518f671d
+size 27865774
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000053.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000053.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..92442a39bcde08fa4781adf27848604a94474e6d
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000053.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcdd2b0747314a6ba6eb23a57dfb89eaf876a71ca25fdfdddc8cfdf7baf91fbb
+size 27769928
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000054.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000054.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2e9a61825cffce66d95d276f1f7838fdf8be945f
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000054.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cb0f170db88e82cc0b4f1d098b6085f39c6132964cda4d61283eb6478036749
+size 25533651
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000055.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000055.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad487a4f9e1d5d9a6de54a96dca42194766db833
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000055.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:724a575a781ab68539a114f17e6669854842c68458f0ec9fe3df4d34b3abee24
+size 25339572
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000056.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000056.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e9561f22594d19401a9619234e86b4cd85a6ab06
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000056.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d68d3a05a97e12058f362dd7051d8ec2db9807ec7a912bd5ec81bf730826f244
+size 24647836
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000057.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000057.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b0c45b7a353bc2d6d7909aa451b7582d365f3563
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_left/episode_000057.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d528fce8160ec1ee28a599ce34928eaedd8d6b5e7e16aae8ec6e7e273833bf0
+size 25039729
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000000.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0278e34947a7ea435c2053c117c8ab02e0215bb1
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cef8b86bccf0f62971971850891ea7811d7b4024c0e5f2fbe8f0e89dae6eaa0
+size 33353814
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000001.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..994d634d2a83aa6694eec142db70c7af67c311e4
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:178492cbc42df840aa8f72a852ba3f0dd613e570afe41f1b7088a342aa36f47f
+size 30086724
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000002.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..01430b94ba55a9755f90c29f30dc57cb27468f37
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00c3e91f02b0bd09d7cfebce2d182f7164905fcb5f1870fd31cfbd15acfc3130
+size 35257411
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000003.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..93caa2ceb55ad5389bf66bc82f81b9819c282c3c
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1f880f397aa53dc109e673825c40660ba867f9b8fc8e3f0c1b17f7cadde598d
+size 33219728
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000004.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fa365453f69753eae8755d006aed9e82db39b17a
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbe881c737c7fad9d35cf7f57152e78840d1e24eec308704e68e600db5fad449
+size 31605026
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000005.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..42a012e72d3d880113ba14e1c0ff6013d969c568
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee6b9de2e2f60365fbce26c6cd39447ad2b2bab18260e83adb62da84e3c7d1aa
+size 33788784
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000006.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f93ac8d80d27bfaf6c475ad83fa974199ad3a65d
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9b8832a81429e3e232536767915bb8ae60f0b1d4b0962141be910fe9197805f
+size 29344820
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000007.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1be9c9b25c269bc0739de8975d4258f6ce03c9b5
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e4970349a842d02b3355c035984d1337c78e023c4e2c0fbfd3cd5b4dfd89625
+size 28980617
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000008.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..87001ced6a853ee6790e09f933c6dc4537104f9f
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7d4042c4f433e8bd87c303a972347a81d9cd3da574b7deb516150fdad928456
+size 29453754
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000009.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0f16b0b217f2351fceef6452520460b0241560d
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7d8d7ca7fa16a70e2f909d15e1252b3b82ed01a4da2ccb9f1d95cbaf3d72f27
+size 32754835
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000010.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e16069783085aa1f5874b808eb09d8e49bc8a795
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0299cf868ecf866fa941d724753e6dad0e458d6596df468f0af38906839e62f3
+size 30360800
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000011.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7754032930533c05ab7325272d053ee0df2adc12
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000011.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a2cc5fa87639cb5687ed136cb74f3f5f7e2504c9068119f002071fa2b412f06
+size 32432669
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000012.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..57ac8d3896ac10258de47b9c1d980d3060b55b47
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab60c549deda035bca6149f9c0d3dee1482f86428c532fb53557f432dd27174c
+size 30056938
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000013.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..982a736e7086cc0277559b29a9612580aa079247
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000013.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fea0319371aebec402e7e2278dbb1aff76ba4ee19137802745b4defe31664c91
+size 31065475
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000014.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..df7e43d0f3c4d9c26c51d992dd4bd899068f12b8
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8b0725aca07fc832e11ff3f27327fd4779f515f0d93d2f509f5b94a79775e02
+size 29718893
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000015.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fcc191b30a1f5361e4eef4eb516adc7bbcba3a41
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:237fe95804d68714790c570e55d4fd85a6ed916ea2311a72a927e6ee7f793d11
+size 29579647
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000016.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a272ff36bc57562f1c4c3bc510bcc74648dbfb61
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a579acd1e0a739f5632057b60079da7bd465e836227b6460d369940c93425474
+size 31294765
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000017.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9779265a50aa94a561c53a27375ae689f4419478
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000017.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0da98b8595aa83bc852e8c8e5bee16589458a2ca8c3973f6f6a01550801e44a2
+size 32551247
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000018.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a01aa582ae84f3c455ddfc701114347827726c2c
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7a238ff74c28856aa20c6a12d9977eb4e9483b0bd4c9e9933a8cb46ec479c56
+size 29439439
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000019.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5c0fabcde2c3e8a458bcecb9071906954ab8edde
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dccbe09b22776acb63068c5872e2b2cd5b45095e34de83412ddfc33fd359812
+size 28681913
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000020.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7ebd20faa3734be702ad28441ea9035c47bd0f87
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0462e14abfb72493aafe596bc5303b01dd3450faa953777679b47f021004e631
+size 27993720
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000021.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fac3cb15cea6c2796ba772ae20ce2f1acc2c5f82
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000021.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdcdb562cd88b4097ab1b0452077ed7f45a6874a839bbec1249b15b2ffbdd02c
+size 27977432
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000022.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..85700628e65be166bcf82f417eeea2bd86b646a4
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b97b70a66193fbd5c2a810b10808455ac7579c205fec06ab2a7732c71d42208c
+size 27874664
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000023.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4ac760b64eb61d702b5ad862f62150e034c9d7c9
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dd4ffed2ed225be92bd7efc07ea8e00717337374bb617cd321392a1d9fbb822
+size 30692777
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000024.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000024.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a2d5f3e9e012bc745a42e65a91dccb74d56487d5
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000024.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff52e706e5cd9b45c4bca54d50f7cc123ec020f505055f024645493a18443a36
+size 27276971
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000025.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..15bfbaba62e8baa2b95883b141a9f29628dc90eb
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39b9f60252d7544265d2a1ab93df3e00b5d8210456325e2d66c782947f38b544
+size 27817554
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000026.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0f206e5a637cc8a12ce5fb85561386a8927022ca
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e752a60251f45272558d66bfb2510b64815284d28fd522c800a3529a5048327
+size 27566726
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000027.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000027.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..376934d4efa8701c71c138aa5415db0df9e2b7bd
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000027.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f798e280c7f7bc536641f78452cc12906cc37245a2f865f33f20c772e8dd5f94
+size 31021726
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000028.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000028.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa600aca9cb0d11ee55c767bf2e4e35c905228b0
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000028.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da72317b081bf2b226eb5f5eafecab1b4bb4f53b83d5decc280cf3ffeeca149c
+size 30755161
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000029.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000029.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d35c388ece3fede111138e4af1b7198b368a7cc8
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000029.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4db34bbf1bc8f2c3dfed8b4a7a2675847c29fad6688d0482f4dc6ed02c91e197
+size 27587933
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000030.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000030.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d21bd1e69ad83d1647576db4ecf1e8f3f0cfd5ad
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000030.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecb3b7e50dbeccb4020cfc0b0553b6c0a18d4c16c3817778b6f37781cf534aed
+size 28164389
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000031.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000031.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d8ea2255b4e9ba2dc82640b2bc8c7e6d0cdc2ff7
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000031.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c740886ea44fdb2a3063b34a1ed491505a3e25c780c30cf3b65ca76fc51c51f
+size 32736526
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000032.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000032.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8d2f6bb5f063c6d1b84c63a587e188920c67b616
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000032.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74d1623653fa7b513cdf2a1136285cede2048571eea4ba6d7abe9b0c036944f3
+size 25211070
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000033.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..82f630590118cf629efef9cff9e19d2c088cd72c
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b412acef0d781fc88a4fd8a626aedde219dd06571d1115b78f32506a35389aa
+size 26753455
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000034.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000034.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2b249dba91631803279670580acea2f6b9ec40af
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000034.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a21369af996256f91b77ee468ca659c28540b34aafb969c2cc7d9b761579c17c
+size 29236147
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000035.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000035.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..765903026e8a2489788e986cda123459cce65737
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000035.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6f74b983667e6df8ce3b6d677b70a02c18bf4f2f1c4c3cfe30e9ac0209de35d
+size 28142934
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000036.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000036.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1b52233db1c24b6f48a66cc7dc3d21dfcd3c1d99
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000036.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ba1e57b8547fb0a6094e2ceaa080412b7d47b09c0b5c96474b13995e508fee2
+size 45160321
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000037.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000037.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..126f1394c82947ccd0234238bf7d21ad6bd7081b
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000037.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6db3cd854dae06f6a2d01c2afd82e1b33b05c95ecb79b4a50b7ceaba309af6a
+size 28916932
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000038.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000038.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..98a2168677f4f48f5deab6fd7c5434d6c5549a58
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000038.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b36f74ef8a7d783f28e472933f552db790ef7cc1c4bb5b728c6a258d2831852
+size 30784413
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000039.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000039.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a25da10c63fa068408a8214cc889d04001c79cad
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000039.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa784623c61fe5b35a8f293f34ea11d1e045329c51947b47e7c5786c88273614
+size 35028688
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000040.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000040.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..93a4e65791aafbc7ee4da328f5c1ed4de4613a2b
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000040.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce6405061e9144cfedaf41456689b2ca7b3270bf866b254c4cc9b5bdf4a3eea4
+size 28733273
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000041.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000041.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..766ee70b8f2f1a62616de3e5a512593697991b27
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000041.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0be02895080706e6849aa4aa0ab55fa665a15f769915e544c36bf12701cd7031
+size 31620569
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000042.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000042.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b06715f437e72b7afb9784f2a4e3f01aa67e372e
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000042.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18967c35850220448a9cf07f24eec6de3ad28cc4d25e81b2a84b6a22c5502c16
+size 40341674
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000043.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000043.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b715f93879a822b46ac9ffb62ca987b78904ec13
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000043.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b27a2d8068ca1169633a9507d7c983de0b9db5553d88c2aa214eb539405b3a6
+size 33489664
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000044.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000044.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dfb223af93b33bffeba3003fac36927c388d2bed
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000044.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f91b2b6dcfc3d7ba4d952a666b49247a69342ae429463ff6b729ba9192e90537
+size 32300580
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000045.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000045.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5dd8e503ac8766cd634a6aaa99ff22d3cdd134be
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000045.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af6fd878fa8069658021d12b8401aa65065e76cd640ff5271e05e661dc73c8d0
+size 31092096
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000046.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000046.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..49cf50fc020c62a7dc94c17645fc64fe59bf2858
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000046.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65e85a7b0c3ea3b02efa8f9544b924e41c8f3ffe4ce7b3f7717c1b8636eefa57
+size 30796581
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000047.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000047.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d3fdf31380f9ef3543c7a4300555fa26c9742d1a
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000047.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a960671ae8c6ebde7ed75c530db6ce3494a05ed9b661836dcd29221c25ea09f
+size 36122209
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000048.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000048.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9469158dca4f4cc63ae58243bfee84f25d9f2f54
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000048.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3780591e56b600b96a545937792b3b17ce5326a0c0d6fa710a8bac57e6b8a9c5
+size 34033046
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000049.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000049.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..665b4a3c1c78d4bbb5e6d2f0bde05eeca330b768
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000049.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71d6944ed5b2fdd613567c32dc83ca9c4899f1e803d1ebf3426acd7cbf2142fb
+size 31969895
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000050.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000050.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..048c061f66351fb10fa815d0dfb9a33e0a33e888
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000050.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a80f1fa997a173b5e8524857340322ea595803d519bbf75f16e92dbc3f0e3ab
+size 27400023
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000051.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000051.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d458d44cbaadf9d89c9f054e68db2879a31b0989
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000051.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3cb4a1c18b216f855d3e4fa42dbe77a2ab061290499c664c60db3e7cb697838
+size 30056788
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000052.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000052.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b582ff51affc612438c063ad47bba326842cf62f
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000052.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff53cc5b4e5cad6bc8c98f8ed28de349e091962ef04fafd2a7e931ea3c9a2967
+size 29874945
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000053.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000053.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8095e851cd317fd8c564ce04734f2c51f8961755
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000053.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8bb09f1392505fe46cf0a701a1775b7f6228df6ab9e14c3b1b389d656ec8eaf
+size 29434051
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000054.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000054.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ab7a82fc7cc0b6fd56af39e1b12eb52e4084ca4c
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000054.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b887acf434e061c0834c71dcba7f2991e31c852529486d65f810958459f7727
+size 27001808
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000055.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000055.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..695709f2256a2aa021cdf9edf86708c7f5c2414c
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000055.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9151e52cca835f76118a041fff417190ef8dbd7934c1c22576b53a845172909
+size 26806494
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000056.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000056.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c7f6c62f2678a458e6be258646aac86079570694
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000056.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c647d172bf3929bb544c136539e490fba710e92db07024dc999df109d46ad5d
+size 26195993
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000057.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000057.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dcedd28b5a8d81df21219740fedd3f74e2e60a14
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/videos/chunk-000/observation.images.wrist_right/episode_000057.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:261a00e7d82c068646490fd0ab0d0d9f931d9a9f1b9a0f16728aa11abd0e2aae
+size 27437451
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/data/chunk-000/file-000.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/data/chunk-000/file-000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bbceb7f2e697ef3492a735c55e65fa5427ec65f8
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/data/chunk-000/file-000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68edf665301bcbee975daf04c87d5270e9a33d7e7f01ea777f0f6290d489b281
+size 103526048
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/data/chunk-000/file-001.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/data/chunk-000/file-001.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3b3a4ed197996811882ff06b9d4bbee882d3671c
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/data/chunk-000/file-001.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c638e04400a6f76997e56455cdc2215d98bd6615636279b29645474f2882f8db
+size 3253572
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/meta/annotation_cache.jsonl b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/meta/annotation_cache.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..29752bb7face1df30cce3978d87d1e8af9a65c70
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/meta/annotation_cache.jsonl
@@ -0,0 +1,58 @@
+{"source_uid": "e16bec7b9a1491c2", "num_frames": 1656, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 195, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 196, "end_step": 273, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 321, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 322, "end_step": 438, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 579, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 639, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 651, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 652, "end_step": 684, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 720, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 774, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 789, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 816, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 843, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 844, "end_step": 969, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 970, "end_step": 1107, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1176, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1177, "end_step": 1254, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1255, "end_step": 1296, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1297, "end_step": 1362, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1363, "end_step": 1476, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1477, "end_step": 1593, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 195, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 196, "end_step": 273, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 321, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 322, "end_step": 438, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 579, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 639, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 651, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 652, "end_step": 684, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 720, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 774, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 789, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 816, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 843, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 844, "end_step": 969, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 970, "end_step": 1107, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1176, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1177, "end_step": 1254, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1255, "end_step": 1296, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1297, "end_step": 1362, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1363, "end_step": 1476, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1477, "end_step": 1593, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_28_10_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 2, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "67e078a861c8447a", "num_frames": 1512, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 315, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 316, "end_step": 429, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 430, "end_step": 561, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 562, "end_step": 627, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 639, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 663, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 664, "end_step": 705, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 804, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 834, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 858, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 885, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 993, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 994, "end_step": 1128, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1191, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1192, "end_step": 1227, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1228, "end_step": 1263, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1264, "end_step": 1323, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1324, "end_step": 1347, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1348, "end_step": 1446, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 315, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 316, "end_step": 429, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 430, "end_step": 561, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 562, "end_step": 627, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 639, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 663, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 664, "end_step": 705, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 804, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 834, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 858, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 885, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 993, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 994, "end_step": 1128, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1191, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1192, "end_step": 1227, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1228, "end_step": 1263, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1264, "end_step": 1323, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1324, "end_step": 1347, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1348, "end_step": 1446, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_29_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 3, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
+{"source_uid": "6b8d87f21227d7b1", "num_frames": 1783, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 270, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 420, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 654, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 726, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 735, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 765, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 789, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 933, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 993, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 994, "end_step": 1020, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 1021, "end_step": 1059, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 1060, "end_step": 1167, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1302, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1303, "end_step": 1386, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1387, "end_step": 1422, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1423, "end_step": 1506, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1507, "end_step": 1593, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1594, "end_step": 1623, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1624, "end_step": 1704, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 270, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 420, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 654, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 726, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 735, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 765, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 789, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 933, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 993, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 994, "end_step": 1020, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 1021, "end_step": 1059, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 1060, "end_step": 1167, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1302, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1303, "end_step": 1386, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1387, "end_step": 1422, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1423, "end_step": 1506, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1507, "end_step": 1593, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1594, "end_step": 1623, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1624, "end_step": 1704, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_30_22_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 4, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
+{"source_uid": "3412a30c22bcdf43", "num_frames": 1664, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 306, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 342, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 477, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 660, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 717, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 732, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 759, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 789, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 897, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 918, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 951, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 975, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 976, "end_step": 1071, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1072, "end_step": 1221, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1272, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1350, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1398, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1473, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1474, "end_step": 1491, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1492, "end_step": 1578, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 306, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 342, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 477, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 660, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 717, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 732, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 759, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 789, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 897, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 918, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 951, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 975, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 976, "end_step": 1071, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1072, "end_step": 1221, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1272, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1350, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1398, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1473, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1474, "end_step": 1491, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1492, "end_step": 1578, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_32_06_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 5, "v40_language_source": "previous_published_lerobot", "episode_index": 3}
+{"source_uid": "cc2f63a2595de044", "num_frames": 1603, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 273, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 330, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 477, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 633, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 681, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 693, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 717, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 741, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 831, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 876, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 897, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 924, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1035, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1170, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1171, "end_step": 1224, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1257, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1350, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1416, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1434, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1435, "end_step": 1530, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 273, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 330, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 477, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 633, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 681, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 693, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 717, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 741, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 831, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 876, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 897, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 924, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1035, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1170, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1171, "end_step": 1224, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1257, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1350, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1416, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1434, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1435, "end_step": 1530, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_34_02_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 7, "v40_language_source": "previous_published_lerobot", "episode_index": 4}
+{"source_uid": "c42f28b00ddab04a", "num_frames": 1711, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 279, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 345, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 346, "end_step": 456, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 630, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 687, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 688, "end_step": 702, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 738, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 774, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 870, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 915, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 936, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 966, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1062, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1212, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1213, "end_step": 1272, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1365, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1366, "end_step": 1395, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1396, "end_step": 1464, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1465, "end_step": 1518, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1519, "end_step": 1626, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 279, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 345, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 346, "end_step": 456, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 630, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 687, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 688, "end_step": 702, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 738, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 774, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 870, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 915, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 936, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 966, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1062, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1212, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1213, "end_step": 1272, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1365, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1366, "end_step": 1395, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1396, "end_step": 1464, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1465, "end_step": 1518, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1519, "end_step": 1626, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_35_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 8, "v40_language_source": "previous_published_lerobot", "episode_index": 5}
+{"source_uid": "e0ca5d2df0d59c88", "num_frames": 1496, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 288, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 387, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 388, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 591, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 612, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 630, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 660, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 789, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 831, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 957, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 958, "end_step": 1083, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1137, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1173, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1174, "end_step": 1248, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1249, "end_step": 1326, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1327, "end_step": 1347, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1348, "end_step": 1422, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 288, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 387, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 388, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 591, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 612, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 630, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 660, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 789, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 831, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 957, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 958, "end_step": 1083, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1137, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1173, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1174, "end_step": 1248, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1249, "end_step": 1326, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1327, "end_step": 1347, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1348, "end_step": 1422, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_36_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 6}
+{"source_uid": "a13a4ab6683a8ab8", "num_frames": 1467, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 270, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 396, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 582, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 624, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 645, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 646, "end_step": 738, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 762, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 780, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 801, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 802, "end_step": 927, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 928, "end_step": 1062, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1113, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1114, "end_step": 1167, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1224, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1275, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1276, "end_step": 1314, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1315, "end_step": 1392, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 270, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 396, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 582, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 624, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 645, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 646, "end_step": 738, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 762, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 780, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 801, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 802, "end_step": 927, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 928, "end_step": 1062, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1113, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1114, "end_step": 1167, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1224, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1275, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1276, "end_step": 1314, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1315, "end_step": 1392, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_37_03_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 10, "v40_language_source": "previous_published_lerobot", "episode_index": 7}
+{"source_uid": "ba95b158c2cf9159", "num_frames": 1494, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 261, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 414, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 543, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 544, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 594, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 618, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 720, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 738, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 759, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 780, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 909, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 910, "end_step": 1038, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1039, "end_step": 1092, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1143, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1144, "end_step": 1194, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1257, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1419, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 261, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 414, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 543, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 544, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 594, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 618, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 720, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 738, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 759, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 780, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 909, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 910, "end_step": 1038, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1039, "end_step": 1092, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1143, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1144, "end_step": 1194, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1257, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1419, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_40_22_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 12, "v40_language_source": "previous_published_lerobot", "episode_index": 8}
+{"source_uid": "a85023e1a353b7e1", "num_frames": 1652, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 258, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 390, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 504, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 678, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 741, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 759, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 783, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 807, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 808, "end_step": 906, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 933, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 963, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 964, "end_step": 990, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1086, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1257, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1326, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1327, "end_step": 1353, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1354, "end_step": 1401, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1402, "end_step": 1458, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1459, "end_step": 1503, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1504, "end_step": 1581, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 258, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 390, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 504, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 678, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 741, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 759, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 783, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 807, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 808, "end_step": 906, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 933, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 963, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 964, "end_step": 990, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1086, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1257, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1326, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1327, "end_step": 1353, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1354, "end_step": 1401, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1402, "end_step": 1458, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1459, "end_step": 1503, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1504, "end_step": 1581, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_41_15_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 13, "v40_language_source": "previous_published_lerobot", "episode_index": 9}
+{"source_uid": "1976ecab84c4be20", "num_frames": 1526, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 201, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 202, "end_step": 294, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 330, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 432, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 603, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 666, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 681, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 708, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 741, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 837, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 838, "end_step": 864, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 885, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 909, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 910, "end_step": 1026, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1128, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1188, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1245, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1246, "end_step": 1281, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1282, "end_step": 1338, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1339, "end_step": 1371, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1458, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 201, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 202, "end_step": 294, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 330, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 432, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 603, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 666, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 681, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 708, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 741, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 837, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 838, "end_step": 864, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 885, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 909, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 910, "end_step": 1026, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1128, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1188, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1245, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1246, "end_step": 1281, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1282, "end_step": 1338, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1339, "end_step": 1371, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1458, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_44_19_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 14, "v40_language_source": "previous_published_lerobot", "episode_index": 10}
+{"source_uid": "df878959be9ec3be", "num_frames": 1645, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 300, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 417, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 418, "end_step": 576, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 627, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 639, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 660, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 696, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 792, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 831, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 858, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 891, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1014, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1015, "end_step": 1149, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1206, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1207, "end_step": 1287, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1288, "end_step": 1371, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1458, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1459, "end_step": 1518, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1519, "end_step": 1575, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 300, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 417, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 418, "end_step": 576, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 627, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 639, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 660, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 696, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 792, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 831, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 858, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 891, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1014, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1015, "end_step": 1149, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1206, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1207, "end_step": 1287, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1288, "end_step": 1371, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1458, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1459, "end_step": 1518, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1519, "end_step": 1575, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_45_15_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 15, "v40_language_source": "previous_published_lerobot", "episode_index": 11}
+{"source_uid": "3934e21591c58d0c", "num_frames": 1510, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 288, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 318, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 420, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 588, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 615, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 636, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 756, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 783, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 831, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 951, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 1089, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1137, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1188, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1263, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1264, "end_step": 1323, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1324, "end_step": 1386, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1387, "end_step": 1437, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 288, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 318, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 420, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 588, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 615, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 636, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 756, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 783, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 831, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 951, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 1089, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1137, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1188, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1263, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1264, "end_step": 1323, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1324, "end_step": 1386, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1387, "end_step": 1437, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_46_12_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 16, "v40_language_source": "previous_published_lerobot", "episode_index": 12}
+{"source_uid": "736fd81bebb999ed", "num_frames": 1569, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 258, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 291, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 411, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 594, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 639, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 648, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 669, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 670, "end_step": 705, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 816, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 837, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 838, "end_step": 861, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 862, "end_step": 888, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 990, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1170, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1171, "end_step": 1218, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1293, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1294, "end_step": 1323, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1324, "end_step": 1386, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1387, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1491, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 258, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 291, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 411, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 594, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 639, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 648, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 669, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 670, "end_step": 705, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 816, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 837, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 838, "end_step": 861, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 862, "end_step": 888, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 990, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1170, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1171, "end_step": 1218, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1293, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1294, "end_step": 1323, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1324, "end_step": 1386, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1387, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1491, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_47_06_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 17, "v40_language_source": "previous_published_lerobot", "episode_index": 13}
+{"source_uid": "e1c41370ddce3c0a", "num_frames": 1483, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 285, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 390, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 543, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 544, "end_step": 582, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 594, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 621, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 652, "end_step": 735, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 768, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 792, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 825, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 924, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1077, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1128, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1191, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1192, "end_step": 1227, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1228, "end_step": 1293, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1294, "end_step": 1353, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1354, "end_step": 1407, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 285, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 390, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 543, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 544, "end_step": 582, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 594, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 621, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 652, "end_step": 735, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 768, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 792, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 825, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 924, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1077, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1128, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1191, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1192, "end_step": 1227, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1228, "end_step": 1293, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1294, "end_step": 1353, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1354, "end_step": 1407, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_48_54_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 19, "v40_language_source": "previous_published_lerobot", "episode_index": 14}
+{"source_uid": "3b157c8c695d9377", "num_frames": 1505, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 411, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 624, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 657, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 658, "end_step": 732, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 765, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 792, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 819, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 915, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1035, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1101, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1137, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1200, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1201, "end_step": 1269, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1270, "end_step": 1356, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1357, "end_step": 1434, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 411, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 624, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 657, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 658, "end_step": 732, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 765, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 792, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 819, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 915, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1035, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1101, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1137, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1200, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1201, "end_step": 1269, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1270, "end_step": 1356, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1357, "end_step": 1434, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_49_46_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 20, "v40_language_source": "previous_published_lerobot", "episode_index": 15}
+{"source_uid": "9c95902d0ab5f42a", "num_frames": 1568, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 258, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 327, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 328, "end_step": 465, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 466, "end_step": 633, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 696, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 711, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 735, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 768, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 837, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 838, "end_step": 873, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 874, "end_step": 903, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 904, "end_step": 933, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 1053, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1054, "end_step": 1191, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1192, "end_step": 1251, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1252, "end_step": 1278, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1279, "end_step": 1320, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1321, "end_step": 1371, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1497, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 258, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 327, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 328, "end_step": 465, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 466, "end_step": 633, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 696, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 711, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 735, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 768, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 837, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 838, "end_step": 873, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 874, "end_step": 903, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 904, "end_step": 933, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 1053, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1054, "end_step": 1191, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1192, "end_step": 1251, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1252, "end_step": 1278, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1279, "end_step": 1320, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1321, "end_step": 1371, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1497, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_50_40_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 21, "v40_language_source": "previous_published_lerobot", "episode_index": 16}
+{"source_uid": "67839f3e388aed1e", "num_frames": 1622, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 291, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 405, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 406, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 627, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 657, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 658, "end_step": 753, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 774, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 798, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 825, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 1041, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1155, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1212, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1213, "end_step": 1296, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1297, "end_step": 1353, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1354, "end_step": 1443, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1444, "end_step": 1476, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1477, "end_step": 1539, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 291, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 405, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 406, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 627, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 657, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 658, "end_step": 753, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 774, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 798, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 825, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 1041, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1155, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1212, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1213, "end_step": 1296, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1297, "end_step": 1353, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1354, "end_step": 1443, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1444, "end_step": 1476, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1477, "end_step": 1539, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_51_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 22, "v40_language_source": "previous_published_lerobot", "episode_index": 17}
+{"source_uid": "0e28f6172300368e", "num_frames": 1487, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 264, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 381, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 382, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 600, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 618, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 774, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 795, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 822, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 951, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 1077, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1134, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1135, "end_step": 1215, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1216, "end_step": 1245, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1246, "end_step": 1308, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1309, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1422, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 264, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 381, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 382, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 600, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 618, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 774, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 795, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 822, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 951, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 1077, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1134, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1135, "end_step": 1215, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1216, "end_step": 1245, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1246, "end_step": 1308, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1309, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1422, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_52_54_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 23, "v40_language_source": "previous_published_lerobot", "episode_index": 18}
+{"source_uid": "f9c12a895212102f", "num_frames": 1431, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 261, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 390, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 528, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 570, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 582, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 600, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 636, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 735, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 753, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 786, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 819, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 939, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 940, "end_step": 1053, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1054, "end_step": 1104, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1194, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1221, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1269, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1270, "end_step": 1305, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1356, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 261, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 390, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 528, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 570, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 582, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 600, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 636, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 735, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 753, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 786, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 819, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 939, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 940, "end_step": 1053, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1054, "end_step": 1104, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1194, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1221, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1269, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1270, "end_step": 1305, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1356, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_54_00_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 24, "v40_language_source": "previous_published_lerobot", "episode_index": 19}
+{"source_uid": "d163e9c8822c3e53", "num_frames": 1416, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 372, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 510, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 558, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 564, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 588, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 615, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 702, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 756, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 774, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 801, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 802, "end_step": 906, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1035, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1086, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1161, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1162, "end_step": 1188, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1254, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1255, "end_step": 1284, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1347, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 372, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 510, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 558, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 564, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 588, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 615, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 702, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 756, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 774, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 801, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 802, "end_step": 906, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1035, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1086, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1161, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1162, "end_step": 1188, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1254, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1255, "end_step": 1284, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1347, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_54_50_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 25, "v40_language_source": "previous_published_lerobot", "episode_index": 20}
+{"source_uid": "866c9c51ebcb6009", "num_frames": 1407, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 294, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 396, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 531, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 532, "end_step": 591, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 603, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 627, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 657, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 658, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 786, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 834, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 951, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 1068, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1069, "end_step": 1125, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1155, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1200, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1201, "end_step": 1257, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1287, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1288, "end_step": 1338, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 294, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 396, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 531, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 532, "end_step": 591, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 603, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 627, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 657, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 658, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 786, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 834, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 951, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 1068, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1069, "end_step": 1125, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1155, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1200, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1201, "end_step": 1257, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1287, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1288, "end_step": 1338, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_55_39_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 26, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
+{"source_uid": "d6cdf6336fa161d5", "num_frames": 1400, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 384, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 507, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 558, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 567, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 591, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 687, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 688, "end_step": 726, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 753, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 780, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 903, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 904, "end_step": 1026, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1083, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1122, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1123, "end_step": 1167, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1227, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1228, "end_step": 1251, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1252, "end_step": 1320, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 384, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 507, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 558, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 567, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 591, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 687, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 688, "end_step": 726, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 753, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 780, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 903, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 904, "end_step": 1026, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1083, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1122, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1123, "end_step": 1167, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1227, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1228, "end_step": 1251, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1252, "end_step": 1320, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_56_29_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 27, "v40_language_source": "previous_published_lerobot", "episode_index": 22}
+{"source_uid": "b33f695ea55c1565", "num_frames": 1537, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 243, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 244, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 387, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 388, "end_step": 522, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 576, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 591, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 615, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 648, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 783, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 810, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 840, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 954, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 1107, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1161, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1162, "end_step": 1197, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1198, "end_step": 1284, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1350, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1377, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1378, "end_step": 1458, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 243, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 244, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 387, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 388, "end_step": 522, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 576, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 591, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 615, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 648, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 783, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 810, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 840, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 954, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 1107, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1161, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1162, "end_step": 1197, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1198, "end_step": 1284, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1350, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1377, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1378, "end_step": 1458, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_58_08_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 29, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
+{"source_uid": "9ffb866fd72d0a1b", "num_frames": 1374, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 246, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 273, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 366, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 507, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 573, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 574, "end_step": 579, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 606, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 636, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 735, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 756, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 777, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 778, "end_step": 798, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 912, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 1026, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1080, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1107, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1158, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1159, "end_step": 1206, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1207, "end_step": 1230, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1231, "end_step": 1299, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 246, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 273, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 366, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 507, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 573, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 574, "end_step": 579, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 606, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 636, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 735, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 756, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 777, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 778, "end_step": 798, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 912, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 1026, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1080, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1107, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1158, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1159, "end_step": 1206, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1207, "end_step": 1230, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1231, "end_step": 1299, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_02_31_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 31, "v40_language_source": "previous_published_lerobot", "episode_index": 24}
+{"source_uid": "b717122ad8db7128", "num_frames": 1411, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 249, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 250, "end_step": 276, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 366, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 486, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 531, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 532, "end_step": 540, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 567, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 597, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 672, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 723, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 724, "end_step": 744, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 771, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 772, "end_step": 891, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1032, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1089, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1143, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1144, "end_step": 1182, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1183, "end_step": 1233, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1234, "end_step": 1263, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1264, "end_step": 1332, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 249, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 250, "end_step": 276, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 366, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 486, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 531, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 532, "end_step": 540, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 567, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 597, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 672, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 723, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 724, "end_step": 744, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 771, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 772, "end_step": 891, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1032, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1089, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1143, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1144, "end_step": 1182, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1183, "end_step": 1233, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1234, "end_step": 1263, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1264, "end_step": 1332, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_03_19_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 32, "v40_language_source": "previous_published_lerobot", "episode_index": 25}
+{"source_uid": "ead2264e2196b9b2", "num_frames": 1400, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 261, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 294, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 393, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 394, "end_step": 513, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 564, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 579, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 594, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 624, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 717, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 765, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 786, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 810, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 909, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 910, "end_step": 1029, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1104, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1155, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1209, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1210, "end_step": 1239, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1240, "end_step": 1320, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 261, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 294, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 393, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 394, "end_step": 513, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 564, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 579, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 594, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 624, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 717, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 765, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 786, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 810, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 909, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 910, "end_step": 1029, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1104, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1155, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1209, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1210, "end_step": 1239, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1240, "end_step": 1320, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_04_08_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 33, "v40_language_source": "previous_published_lerobot", "episode_index": 26}
+{"source_uid": "776fb99182f62c75", "num_frames": 1590, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 378, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 498, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 540, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 561, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 562, "end_step": 585, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 612, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 705, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 738, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 756, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 783, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 906, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1050, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1051, "end_step": 1140, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1141, "end_step": 1224, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1305, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1380, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1381, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1530, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 378, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 498, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 540, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 561, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 562, "end_step": 585, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 612, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 705, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 738, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 756, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 783, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 906, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1050, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1051, "end_step": 1140, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1141, "end_step": 1224, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1305, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1380, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1381, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1530, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_04_56_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 34, "v40_language_source": "previous_published_lerobot", "episode_index": 27}
+{"source_uid": "ac4189dd97a7b83c", "num_frames": 1561, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 237, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 399, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 540, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 603, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 615, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 639, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 666, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 762, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 783, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 807, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 808, "end_step": 840, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 954, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 1068, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1069, "end_step": 1152, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1153, "end_step": 1233, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1234, "end_step": 1311, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1312, "end_step": 1383, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1384, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1476, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 237, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 399, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 540, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 603, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 615, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 639, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 666, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 762, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 783, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 807, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 808, "end_step": 840, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 954, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 1068, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1069, "end_step": 1152, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1153, "end_step": 1233, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1234, "end_step": 1311, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1312, "end_step": 1383, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1384, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1476, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_05_53_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 35, "v40_language_source": "previous_published_lerobot", "episode_index": 28}
+{"source_uid": "d6158031f4240c28", "num_frames": 1385, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 225, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 226, "end_step": 297, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 298, "end_step": 420, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 579, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 585, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 609, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 610, "end_step": 639, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 717, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 738, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 768, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 795, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 915, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1029, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1077, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1092, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1167, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1224, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1257, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1314, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 225, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 226, "end_step": 297, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 298, "end_step": 420, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 579, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 585, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 609, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 610, "end_step": 639, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 717, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 738, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 768, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 795, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 915, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1029, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1077, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1092, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1167, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1224, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1257, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1314, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_07_54_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 37, "v40_language_source": "previous_published_lerobot", "episode_index": 29}
+{"source_uid": "4cd85532532bb990", "num_frames": 1423, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 141, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 142, "end_step": 228, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 282, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 372, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 510, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 567, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 579, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 597, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 624, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 729, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 730, "end_step": 756, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 780, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 810, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 924, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1041, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1101, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1155, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1200, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1201, "end_step": 1257, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1290, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1291, "end_step": 1350, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 141, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 142, "end_step": 228, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 282, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 372, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 510, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 567, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 579, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 597, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 624, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 729, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 730, "end_step": 756, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 780, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 810, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 924, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1041, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1101, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1155, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1200, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1201, "end_step": 1257, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1290, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1291, "end_step": 1350, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_08_43_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 38, "v40_language_source": "previous_published_lerobot", "episode_index": 30}
+{"source_uid": "8cf54d0e5e9f7679", "num_frames": 1688, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 222, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 312, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 378, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 495, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 496, "end_step": 630, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 684, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 696, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 726, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 753, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 828, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 843, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 844, "end_step": 867, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 868, "end_step": 891, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1017, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1018, "end_step": 1125, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1197, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1198, "end_step": 1239, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1240, "end_step": 1404, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1405, "end_step": 1491, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1492, "end_step": 1548, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1549, "end_step": 1611, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 222, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 312, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 378, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 495, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 496, "end_step": 630, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 684, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 696, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 726, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 753, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 828, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 843, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 844, "end_step": 867, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 868, "end_step": 891, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1017, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1018, "end_step": 1125, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1197, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1198, "end_step": 1239, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1240, "end_step": 1404, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1405, "end_step": 1491, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1492, "end_step": 1548, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1549, "end_step": 1611, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_10_06_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 39, "v40_language_source": "previous_published_lerobot", "episode_index": 31}
+{"source_uid": "d9a67cfab2adc5c3", "num_frames": 1282, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 228, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 276, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 369, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 480, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 522, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 534, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 558, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 588, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 663, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 664, "end_step": 681, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 705, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 729, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 730, "end_step": 834, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 930, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 972, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 973, "end_step": 1041, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1077, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1122, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1123, "end_step": 1146, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1147, "end_step": 1209, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 228, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 276, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 369, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 480, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 522, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 534, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 558, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 588, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 663, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 664, "end_step": 681, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 705, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 729, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 730, "end_step": 834, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 930, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 972, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 973, "end_step": 1041, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1077, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1122, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1123, "end_step": 1146, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1147, "end_step": 1209, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_11_57_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 41, "v40_language_source": "previous_published_lerobot", "episode_index": 32}
+{"source_uid": "31f4119a52f0ea82", "num_frames": 1336, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 198, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 270, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 369, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 510, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 552, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 570, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 585, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 606, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 693, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 717, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 744, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 768, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 888, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 996, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 997, "end_step": 1044, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1045, "end_step": 1083, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1125, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1176, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1177, "end_step": 1218, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1263, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 198, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 270, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 369, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 510, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 552, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 570, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 585, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 606, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 693, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 717, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 744, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 768, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 888, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 996, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 997, "end_step": 1044, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1045, "end_step": 1083, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1125, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1176, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1177, "end_step": 1218, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1263, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_12_41_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 42, "v40_language_source": "previous_published_lerobot", "episode_index": 33}
+{"source_uid": "85f9550a043eb752", "num_frames": 1486, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 258, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 354, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 477, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 528, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 537, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 558, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 585, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 672, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 714, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 738, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 768, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 912, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 1044, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1045, "end_step": 1098, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1099, "end_step": 1185, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1186, "end_step": 1221, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1305, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1410, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 258, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 354, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 477, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 528, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 537, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 558, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 585, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 672, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 714, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 738, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 768, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 912, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 1044, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1045, "end_step": 1098, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1099, "end_step": 1185, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1186, "end_step": 1221, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1305, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1410, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_13_28_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 43, "v40_language_source": "previous_published_lerobot", "episode_index": 34}
+{"source_uid": "e97cee5e19a47a8c", "num_frames": 1444, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 237, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 258, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 360, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 507, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 552, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 567, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 585, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 621, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 696, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 726, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 753, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 780, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 900, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 1029, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1134, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1135, "end_step": 1182, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1183, "end_step": 1236, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1237, "end_step": 1284, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1368, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 237, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 258, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 360, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 507, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 552, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 567, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 585, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 621, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 696, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 726, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 753, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 780, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 900, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 1029, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1134, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1135, "end_step": 1182, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1183, "end_step": 1236, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1237, "end_step": 1284, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1368, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_14_21_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 44, "v40_language_source": "previous_published_lerobot", "episode_index": 35}
+{"source_uid": "790642bab72db9c3", "num_frames": 2370, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 154, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 248, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 284, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 380, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 381, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 584, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 585, "end_step": 602, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 603, "end_step": 634, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 652, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 653, "end_step": 740, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 874, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 875, "end_step": 906, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 936, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1054, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1055, "end_step": 1172, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1173, "end_step": 1230, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1231, "end_step": 2090, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 2091, "end_step": 2144, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 2145, "end_step": 2204, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 2205, "end_step": 2236, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 2237, "end_step": 2302, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 154, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 248, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 284, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 380, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 381, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 584, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 585, "end_step": 602, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 603, "end_step": 634, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 652, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 653, "end_step": 740, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 874, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 875, "end_step": 906, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 936, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1054, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1055, "end_step": 1172, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1173, "end_step": 1230, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1231, "end_step": 2090, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 2091, "end_step": 2144, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 2145, "end_step": 2204, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 2205, "end_step": 2236, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 2237, "end_step": 2302, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_15_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 45, "v40_language_source": "previous_published_lerobot", "episode_index": 36}
+{"source_uid": "cbd31bbb0ec57d5c", "num_frames": 1472, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 148, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 149, "end_step": 266, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 278, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 279, "end_step": 374, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 375, "end_step": 522, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 576, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 608, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 650, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 678, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 744, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 776, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 777, "end_step": 818, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 819, "end_step": 838, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 839, "end_step": 952, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 953, "end_step": 1082, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 1126, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1127, "end_step": 1198, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1199, "end_step": 1246, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1247, "end_step": 1294, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1295, "end_step": 1332, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1406, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 148, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 149, "end_step": 266, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 278, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 279, "end_step": 374, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 375, "end_step": 522, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 576, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 608, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 650, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 678, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 744, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 776, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 777, "end_step": 818, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 819, "end_step": 838, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 839, "end_step": 952, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 953, "end_step": 1082, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 1126, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1127, "end_step": 1198, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1199, "end_step": 1246, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1247, "end_step": 1294, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1295, "end_step": 1332, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1406, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_17_07_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 46, "v40_language_source": "previous_published_lerobot", "episode_index": 37}
+{"source_uid": "0961467e8fa38aaf", "num_frames": 1584, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 158, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 159, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 286, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 287, "end_step": 382, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 383, "end_step": 562, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 616, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 617, "end_step": 642, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 666, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 682, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 683, "end_step": 756, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 870, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 902, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 924, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1022, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1023, "end_step": 1144, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1145, "end_step": 1194, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1262, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1263, "end_step": 1302, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1303, "end_step": 1370, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1371, "end_step": 1458, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1459, "end_step": 1520, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 158, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 159, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 286, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 287, "end_step": 382, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 383, "end_step": 562, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 616, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 617, "end_step": 642, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 666, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 682, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 683, "end_step": 756, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 870, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 902, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 924, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1022, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1023, "end_step": 1144, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1145, "end_step": 1194, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1262, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1263, "end_step": 1302, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1303, "end_step": 1370, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1371, "end_step": 1458, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1459, "end_step": 1520, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_18_00_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 47, "v40_language_source": "previous_published_lerobot", "episode_index": 38}
+{"source_uid": "400d5a5db9fd2fd8", "num_frames": 1800, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 284, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 312, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 430, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 596, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 597, "end_step": 640, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 641, "end_step": 658, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 659, "end_step": 690, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 710, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 711, "end_step": 798, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 826, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 827, "end_step": 862, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 863, "end_step": 894, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 998, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 999, "end_step": 1226, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1227, "end_step": 1272, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1400, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1401, "end_step": 1440, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1441, "end_step": 1534, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1535, "end_step": 1644, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1645, "end_step": 1720, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 284, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 312, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 430, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 596, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 597, "end_step": 640, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 641, "end_step": 658, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 659, "end_step": 690, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 710, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 711, "end_step": 798, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 826, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 827, "end_step": 862, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 863, "end_step": 894, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 998, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 999, "end_step": 1226, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1227, "end_step": 1272, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1400, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1401, "end_step": 1440, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1441, "end_step": 1534, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1535, "end_step": 1644, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1645, "end_step": 1720, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_19_02_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 48, "v40_language_source": "previous_published_lerobot", "episode_index": 39}
+{"source_uid": "08fedbc174c8951c", "num_frames": 1475, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 176, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 177, "end_step": 292, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 293, "end_step": 310, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 311, "end_step": 434, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 435, "end_step": 588, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 632, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 633, "end_step": 648, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 672, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 694, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 695, "end_step": 780, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 816, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 860, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 861, "end_step": 876, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 974, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 975, "end_step": 1090, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1091, "end_step": 1138, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1139, "end_step": 1154, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1155, "end_step": 1214, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1215, "end_step": 1294, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1295, "end_step": 1322, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1323, "end_step": 1408, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 176, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 177, "end_step": 292, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 293, "end_step": 310, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 311, "end_step": 434, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 435, "end_step": 588, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 632, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 633, "end_step": 648, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 672, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 694, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 695, "end_step": 780, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 816, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 860, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 861, "end_step": 876, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 974, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 975, "end_step": 1090, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1091, "end_step": 1138, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1139, "end_step": 1154, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1155, "end_step": 1214, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1215, "end_step": 1294, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1295, "end_step": 1322, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1323, "end_step": 1408, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_20_39_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 49, "v40_language_source": "previous_published_lerobot", "episode_index": 40}
+{"source_uid": "0ec336a876228e52", "num_frames": 1611, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 250, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 350, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 351, "end_step": 376, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 377, "end_step": 480, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 614, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 615, "end_step": 650, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 670, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 671, "end_step": 706, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 707, "end_step": 718, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 719, "end_step": 802, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 803, "end_step": 874, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 875, "end_step": 902, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 914, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 915, "end_step": 1036, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1037, "end_step": 1182, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1183, "end_step": 1226, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1227, "end_step": 1304, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1305, "end_step": 1350, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1416, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1466, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1467, "end_step": 1534, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 250, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 350, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 351, "end_step": 376, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 377, "end_step": 480, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 614, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 615, "end_step": 650, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 670, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 671, "end_step": 706, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 707, "end_step": 718, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 719, "end_step": 802, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 803, "end_step": 874, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 875, "end_step": 902, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 914, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 915, "end_step": 1036, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1037, "end_step": 1182, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1183, "end_step": 1226, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1227, "end_step": 1304, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1305, "end_step": 1350, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1416, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1466, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1467, "end_step": 1534, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_21_33_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 50, "v40_language_source": "previous_published_lerobot", "episode_index": 41}
+{"source_uid": "3dcf9879578a248a", "num_frames": 2043, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 282, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 336, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 442, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 443, "end_step": 628, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 629, "end_step": 697, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 698, "end_step": 703, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 704, "end_step": 721, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 722, "end_step": 760, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 859, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 860, "end_step": 889, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 890, "end_step": 913, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 914, "end_step": 955, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 956, "end_step": 1075, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1076, "end_step": 1246, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1247, "end_step": 1306, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1307, "end_step": 1363, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1364, "end_step": 1813, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1814, "end_step": 1858, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1859, "end_step": 1894, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1895, "end_step": 1963, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 282, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 336, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 442, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 443, "end_step": 628, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 629, "end_step": 697, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 698, "end_step": 703, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 704, "end_step": 721, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 722, "end_step": 760, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 859, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 860, "end_step": 889, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 890, "end_step": 913, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 914, "end_step": 955, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 956, "end_step": 1075, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1076, "end_step": 1246, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1247, "end_step": 1306, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1307, "end_step": 1363, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1364, "end_step": 1813, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1814, "end_step": 1858, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1859, "end_step": 1894, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1895, "end_step": 1963, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_23_31_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 52, "v40_language_source": "previous_published_lerobot", "episode_index": 42}
+{"source_uid": "828fc34effb90c27", "num_frames": 1697, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 158, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 159, "end_step": 266, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 292, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 293, "end_step": 398, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 399, "end_step": 524, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 525, "end_step": 586, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 587, "end_step": 612, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 638, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 639, "end_step": 664, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 665, "end_step": 744, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 854, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 855, "end_step": 886, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 887, "end_step": 916, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 917, "end_step": 1042, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1043, "end_step": 1186, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1187, "end_step": 1236, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1237, "end_step": 1278, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1279, "end_step": 1342, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1343, "end_step": 1460, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1461, "end_step": 1514, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1515, "end_step": 1632, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 158, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 159, "end_step": 266, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 292, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 293, "end_step": 398, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 399, "end_step": 524, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 525, "end_step": 586, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 587, "end_step": 612, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 638, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 639, "end_step": 664, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 665, "end_step": 744, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 854, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 855, "end_step": 886, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 887, "end_step": 916, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 917, "end_step": 1042, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1043, "end_step": 1186, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1187, "end_step": 1236, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1237, "end_step": 1278, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1279, "end_step": 1342, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1343, "end_step": 1460, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1461, "end_step": 1514, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1515, "end_step": 1632, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_24_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 53, "v40_language_source": "previous_published_lerobot", "episode_index": 43}
+{"source_uid": "c83e074546ae16ef", "num_frames": 1659, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 282, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 338, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 339, "end_step": 478, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 479, "end_step": 608, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 652, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 653, "end_step": 674, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 675, "end_step": 700, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 730, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 731, "end_step": 806, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 807, "end_step": 836, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 882, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 910, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1010, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1011, "end_step": 1142, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1143, "end_step": 1186, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1187, "end_step": 1250, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1251, "end_step": 1294, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1295, "end_step": 1396, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1397, "end_step": 1446, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1447, "end_step": 1580, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 282, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 338, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 339, "end_step": 478, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 479, "end_step": 608, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 652, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 653, "end_step": 674, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 675, "end_step": 700, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 730, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 731, "end_step": 806, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 807, "end_step": 836, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 882, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 910, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1010, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1011, "end_step": 1142, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1143, "end_step": 1186, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1187, "end_step": 1250, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1251, "end_step": 1294, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1295, "end_step": 1396, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1397, "end_step": 1446, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1447, "end_step": 1580, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_28_56_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 54, "v40_language_source": "previous_published_lerobot", "episode_index": 44}
+{"source_uid": "b7b425dd2b6004ee", "num_frames": 1586, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 290, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 308, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 309, "end_step": 430, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 570, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 608, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 632, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 633, "end_step": 662, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 680, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 681, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 778, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 779, "end_step": 800, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 801, "end_step": 814, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 815, "end_step": 910, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1032, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1082, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 1128, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1222, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1223, "end_step": 1338, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1339, "end_step": 1364, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1365, "end_step": 1522, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 290, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 308, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 309, "end_step": 430, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 570, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 608, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 632, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 633, "end_step": 662, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 680, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 681, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 778, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 779, "end_step": 800, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 801, "end_step": 814, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 815, "end_step": 910, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1032, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1082, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 1128, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1222, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1223, "end_step": 1338, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1339, "end_step": 1364, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1365, "end_step": 1522, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_29_54_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 55, "v40_language_source": "previous_published_lerobot", "episode_index": 45}
+{"source_uid": "5865ab77d8883238", "num_frames": 1553, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 148, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 149, "end_step": 254, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 374, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 375, "end_step": 528, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 568, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 569, "end_step": 662, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 700, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 726, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 792, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 836, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 864, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 888, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 1004, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1005, "end_step": 1148, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1149, "end_step": 1184, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1185, "end_step": 1210, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1211, "end_step": 1266, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1267, "end_step": 1352, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1353, "end_step": 1392, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1393, "end_step": 1478, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 148, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 149, "end_step": 254, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 374, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 375, "end_step": 528, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 568, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 569, "end_step": 662, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 700, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 726, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 792, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 836, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 864, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 888, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 1004, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1005, "end_step": 1148, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1149, "end_step": 1184, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1185, "end_step": 1210, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1211, "end_step": 1266, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1267, "end_step": 1352, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1353, "end_step": 1392, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1393, "end_step": 1478, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_30_49_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 56, "v40_language_source": "previous_published_lerobot", "episode_index": 46}
+{"source_uid": "1dca11eeb301f1ff", "num_frames": 1851, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 290, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 402, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 604, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 605, "end_step": 662, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 688, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 689, "end_step": 724, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 725, "end_step": 778, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 779, "end_step": 872, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 873, "end_step": 912, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 948, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 949, "end_step": 966, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1080, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1258, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1259, "end_step": 1308, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1309, "end_step": 1486, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1487, "end_step": 1588, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1589, "end_step": 1664, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1665, "end_step": 1706, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1707, "end_step": 1774, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 290, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 402, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 604, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 605, "end_step": 662, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 688, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 689, "end_step": 724, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 725, "end_step": 778, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 779, "end_step": 872, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 873, "end_step": 912, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 948, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 949, "end_step": 966, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1080, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1258, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1259, "end_step": 1308, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1309, "end_step": 1486, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1487, "end_step": 1588, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1589, "end_step": 1664, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1665, "end_step": 1706, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1707, "end_step": 1774, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_31_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 57, "v40_language_source": "previous_published_lerobot", "episode_index": 47}
+{"source_uid": "575b43b77a44b29d", "num_frames": 1730, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 288, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 314, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 315, "end_step": 428, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 429, "end_step": 588, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 634, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 654, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 686, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 687, "end_step": 714, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 814, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 815, "end_step": 842, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 843, "end_step": 880, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 906, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1032, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1332, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1378, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1379, "end_step": 1410, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1411, "end_step": 1454, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1455, "end_step": 1520, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1521, "end_step": 1574, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1575, "end_step": 1662, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 288, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 314, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 315, "end_step": 428, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 429, "end_step": 588, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 634, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 654, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 686, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 687, "end_step": 714, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 814, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 815, "end_step": 842, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 843, "end_step": 880, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 906, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1032, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1332, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1378, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1379, "end_step": 1410, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1411, "end_step": 1454, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1455, "end_step": 1520, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1521, "end_step": 1574, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1575, "end_step": 1662, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_33_57_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 59, "v40_language_source": "previous_published_lerobot", "episode_index": 48}
+{"source_uid": "aacc20e350e91a2e", "num_frames": 1614, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 274, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 275, "end_step": 360, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 486, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 634, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 684, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 692, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 693, "end_step": 712, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 713, "end_step": 736, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 737, "end_step": 828, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 856, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 857, "end_step": 882, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 902, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 1018, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1019, "end_step": 1194, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1242, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1310, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1311, "end_step": 1348, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1349, "end_step": 1418, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1419, "end_step": 1470, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1471, "end_step": 1540, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 274, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 275, "end_step": 360, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 486, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 634, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 684, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 692, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 693, "end_step": 712, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 713, "end_step": 736, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 737, "end_step": 828, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 856, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 857, "end_step": 882, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 902, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 1018, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1019, "end_step": 1194, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1242, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1310, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1311, "end_step": 1348, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1349, "end_step": 1418, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1419, "end_step": 1470, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1471, "end_step": 1540, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_34_59_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 60, "v40_language_source": "previous_published_lerobot", "episode_index": 49}
+{"source_uid": "4dac8f1bcb26a703", "num_frames": 1384, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 142, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 143, "end_step": 256, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 257, "end_step": 306, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 410, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 411, "end_step": 520, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 550, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 551, "end_step": 576, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 602, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 603, "end_step": 644, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 645, "end_step": 704, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 705, "end_step": 726, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 766, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 767, "end_step": 788, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 789, "end_step": 904, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 905, "end_step": 1016, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1017, "end_step": 1058, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1059, "end_step": 1092, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1146, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1147, "end_step": 1218, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1240, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1241, "end_step": 1318, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 142, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 143, "end_step": 256, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 257, "end_step": 306, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 410, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 411, "end_step": 520, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 550, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 551, "end_step": 576, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 602, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 603, "end_step": 644, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 645, "end_step": 704, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 705, "end_step": 726, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 766, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 767, "end_step": 788, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 789, "end_step": 904, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 905, "end_step": 1016, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1017, "end_step": 1058, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1059, "end_step": 1092, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1146, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1147, "end_step": 1218, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1240, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1241, "end_step": 1318, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_43_09_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 63, "v40_language_source": "previous_published_lerobot", "episode_index": 50}
+{"source_uid": "cb2a652f0cf6d06a", "num_frames": 1532, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 298, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 299, "end_step": 318, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 414, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 562, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 626, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 627, "end_step": 654, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 688, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 689, "end_step": 712, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 713, "end_step": 796, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 797, "end_step": 848, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 849, "end_step": 874, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 875, "end_step": 894, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 1002, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1003, "end_step": 1148, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1149, "end_step": 1220, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1221, "end_step": 1250, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1251, "end_step": 1280, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1281, "end_step": 1342, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1343, "end_step": 1376, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1377, "end_step": 1468, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 298, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 299, "end_step": 318, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 414, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 562, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 626, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 627, "end_step": 654, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 688, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 689, "end_step": 712, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 713, "end_step": 796, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 797, "end_step": 848, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 849, "end_step": 874, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 875, "end_step": 894, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 1002, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1003, "end_step": 1148, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1149, "end_step": 1220, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1221, "end_step": 1250, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1251, "end_step": 1280, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1281, "end_step": 1342, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1343, "end_step": 1376, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1377, "end_step": 1468, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_43_58_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 64, "v40_language_source": "previous_published_lerobot", "episode_index": 51}
+{"source_uid": "cabb2b7638520183", "num_frames": 1514, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 152, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 153, "end_step": 278, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 279, "end_step": 302, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 303, "end_step": 390, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 556, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 600, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 634, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 672, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 708, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 788, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 789, "end_step": 824, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 825, "end_step": 868, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 869, "end_step": 884, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 885, "end_step": 986, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 987, "end_step": 1104, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1156, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1157, "end_step": 1186, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1187, "end_step": 1238, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1239, "end_step": 1318, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1319, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1448, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 152, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 153, "end_step": 278, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 279, "end_step": 302, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 303, "end_step": 390, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 556, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 600, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 634, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 672, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 708, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 788, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 789, "end_step": 824, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 825, "end_step": 868, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 869, "end_step": 884, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 885, "end_step": 986, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 987, "end_step": 1104, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1156, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1157, "end_step": 1186, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1187, "end_step": 1238, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1239, "end_step": 1318, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1319, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1448, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_45_08_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 65, "v40_language_source": "previous_published_lerobot", "episode_index": 52}
+{"source_uid": "fc546403bdc07b20", "num_frames": 1492, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 154, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 272, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 273, "end_step": 366, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 518, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 519, "end_step": 558, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 568, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 569, "end_step": 590, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 620, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 621, "end_step": 700, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 772, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 773, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 818, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 819, "end_step": 932, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 933, "end_step": 1052, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1053, "end_step": 1090, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1091, "end_step": 1168, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1169, "end_step": 1208, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1209, "end_step": 1284, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1320, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1321, "end_step": 1424, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 154, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 272, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 273, "end_step": 366, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 518, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 519, "end_step": 558, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 568, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 569, "end_step": 590, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 620, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 621, "end_step": 700, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 772, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 773, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 818, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 819, "end_step": 932, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 933, "end_step": 1052, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1053, "end_step": 1090, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1091, "end_step": 1168, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1169, "end_step": 1208, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1209, "end_step": 1284, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1320, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1321, "end_step": 1424, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_46_58_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 67, "v40_language_source": "previous_published_lerobot", "episode_index": 53}
+{"source_uid": "6e24ec0e5e7b6880", "num_frames": 1371, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 152, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 153, "end_step": 242, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 243, "end_step": 260, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 261, "end_step": 350, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 351, "end_step": 504, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 544, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 545, "end_step": 556, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 580, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 581, "end_step": 614, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 615, "end_step": 672, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 720, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 746, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 747, "end_step": 760, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 876, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 992, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 993, "end_step": 1052, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1053, "end_step": 1104, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1132, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1133, "end_step": 1190, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1191, "end_step": 1232, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1233, "end_step": 1304, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 152, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 153, "end_step": 242, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 243, "end_step": 260, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 261, "end_step": 350, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 351, "end_step": 504, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 544, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 545, "end_step": 556, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 580, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 581, "end_step": 614, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 615, "end_step": 672, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 720, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 746, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 747, "end_step": 760, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 876, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 992, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 993, "end_step": 1052, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1053, "end_step": 1104, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1132, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1133, "end_step": 1190, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1191, "end_step": 1232, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1233, "end_step": 1304, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_47_50_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 68, "v40_language_source": "previous_published_lerobot", "episode_index": 54}
+{"source_uid": "9999c92dcbf74615", "num_frames": 1343, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 140, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 141, "end_step": 244, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 245, "end_step": 266, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 358, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 359, "end_step": 462, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 504, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 526, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 527, "end_step": 548, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 549, "end_step": 570, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 622, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 623, "end_step": 662, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 698, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 699, "end_step": 712, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 713, "end_step": 816, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 934, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 935, "end_step": 988, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 989, "end_step": 1020, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1021, "end_step": 1066, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1067, "end_step": 1114, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1115, "end_step": 1156, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1157, "end_step": 1280, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 140, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 141, "end_step": 244, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 245, "end_step": 266, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 358, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 359, "end_step": 462, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 504, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 526, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 527, "end_step": 548, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 549, "end_step": 570, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 622, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 623, "end_step": 662, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 698, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 699, "end_step": 712, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 713, "end_step": 816, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 934, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 935, "end_step": 988, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 989, "end_step": 1020, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1021, "end_step": 1066, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1067, "end_step": 1114, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1115, "end_step": 1156, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1157, "end_step": 1280, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_48_38_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 69, "v40_language_source": "previous_published_lerobot", "episode_index": 55}
+{"source_uid": "ee9eff2d947f58ad", "num_frames": 1316, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 130, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 131, "end_step": 224, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 248, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 356, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 357, "end_step": 482, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 520, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 538, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 539, "end_step": 562, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 586, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 587, "end_step": 654, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 696, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 728, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 729, "end_step": 748, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 749, "end_step": 836, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 950, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 951, "end_step": 988, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 989, "end_step": 1036, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1037, "end_step": 1086, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1150, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1151, "end_step": 1178, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1179, "end_step": 1252, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 130, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 131, "end_step": 224, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 248, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 356, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 357, "end_step": 482, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 520, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 538, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 539, "end_step": 562, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 586, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 587, "end_step": 654, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 696, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 728, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 729, "end_step": 748, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 749, "end_step": 836, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 950, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 951, "end_step": 988, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 989, "end_step": 1036, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1037, "end_step": 1086, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1150, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1151, "end_step": 1178, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1179, "end_step": 1252, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_49_26_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 70, "v40_language_source": "previous_published_lerobot", "episode_index": 56}
+{"source_uid": "09d8bfe0ec7beb40", "num_frames": 1397, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 149, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 150, "end_step": 227, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 228, "end_step": 245, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 246, "end_step": 345, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 346, "end_step": 473, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 474, "end_step": 515, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 516, "end_step": 541, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 542, "end_step": 567, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 589, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 590, "end_step": 681, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 705, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 737, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 738, "end_step": 757, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 758, "end_step": 861, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 862, "end_step": 997, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 998, "end_step": 1033, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1034, "end_step": 1121, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1122, "end_step": 1149, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1219, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1220, "end_step": 1247, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1248, "end_step": 1333, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 149, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 150, "end_step": 227, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 228, "end_step": 245, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 246, "end_step": 345, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 346, "end_step": 473, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 474, "end_step": 515, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 516, "end_step": 541, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 542, "end_step": 567, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 589, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 590, "end_step": 681, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 705, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 737, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 738, "end_step": 757, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 758, "end_step": 861, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 862, "end_step": 997, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 998, "end_step": 1033, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1034, "end_step": 1121, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1122, "end_step": 1149, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1219, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1220, "end_step": 1247, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1248, "end_step": 1333, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_50_17_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 71, "v40_language_source": "previous_published_lerobot", "episode_index": 57}
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/meta/annotations.jsonl b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..29752bb7face1df30cce3978d87d1e8af9a65c70
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,58 @@
+{"source_uid": "e16bec7b9a1491c2", "num_frames": 1656, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 195, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 196, "end_step": 273, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 321, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 322, "end_step": 438, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 579, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 639, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 651, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 652, "end_step": 684, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 720, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 774, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 789, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 816, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 843, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 844, "end_step": 969, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 970, "end_step": 1107, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1176, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1177, "end_step": 1254, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1255, "end_step": 1296, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1297, "end_step": 1362, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1363, "end_step": 1476, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1477, "end_step": 1593, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 195, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 196, "end_step": 273, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 321, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 322, "end_step": 438, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 439, "end_step": 579, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 639, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 651, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 652, "end_step": 684, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 720, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 774, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 789, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 816, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 843, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 844, "end_step": 969, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 970, "end_step": 1107, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1176, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1177, "end_step": 1254, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1255, "end_step": 1296, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1297, "end_step": 1362, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1363, "end_step": 1476, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1477, "end_step": 1593, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_28_10_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 2, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "67e078a861c8447a", "num_frames": 1512, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 315, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 316, "end_step": 429, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 430, "end_step": 561, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 562, "end_step": 627, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 639, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 663, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 664, "end_step": 705, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 804, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 834, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 858, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 885, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 993, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 994, "end_step": 1128, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1191, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1192, "end_step": 1227, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1228, "end_step": 1263, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1264, "end_step": 1323, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1324, "end_step": 1347, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1348, "end_step": 1446, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 315, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 316, "end_step": 429, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 430, "end_step": 561, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 562, "end_step": 627, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 639, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 663, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 664, "end_step": 705, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 804, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 834, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 858, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 885, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 993, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 994, "end_step": 1128, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1191, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1192, "end_step": 1227, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1228, "end_step": 1263, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1264, "end_step": 1323, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1324, "end_step": 1347, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1348, "end_step": 1446, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_29_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 3, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
+{"source_uid": "6b8d87f21227d7b1", "num_frames": 1783, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 270, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 420, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 654, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 726, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 735, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 765, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 789, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 933, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 993, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 994, "end_step": 1020, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 1021, "end_step": 1059, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 1060, "end_step": 1167, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1302, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1303, "end_step": 1386, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1387, "end_step": 1422, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1423, "end_step": 1506, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1507, "end_step": 1593, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1594, "end_step": 1623, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1624, "end_step": 1704, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 270, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 420, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 654, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 726, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 735, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 765, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 789, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 933, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 993, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 994, "end_step": 1020, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 1021, "end_step": 1059, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 1060, "end_step": 1167, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1302, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1303, "end_step": 1386, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1387, "end_step": 1422, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1423, "end_step": 1506, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1507, "end_step": 1593, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1594, "end_step": 1623, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1624, "end_step": 1704, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_30_22_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 4, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
+{"source_uid": "3412a30c22bcdf43", "num_frames": 1664, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 306, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 342, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 477, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 660, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 717, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 732, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 759, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 789, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 897, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 918, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 951, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 975, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 976, "end_step": 1071, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1072, "end_step": 1221, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1272, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1350, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1398, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1473, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1474, "end_step": 1491, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1492, "end_step": 1578, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 204, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 205, "end_step": 306, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 342, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 343, "end_step": 477, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 660, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 717, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 732, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 759, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 789, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 897, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 918, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 919, "end_step": 951, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 975, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 976, "end_step": 1071, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1072, "end_step": 1221, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1272, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1350, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1398, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1399, "end_step": 1473, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1474, "end_step": 1491, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1492, "end_step": 1578, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_32_06_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 5, "v40_language_source": "previous_published_lerobot", "episode_index": 3}
+{"source_uid": "cc2f63a2595de044", "num_frames": 1603, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 273, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 330, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 477, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 633, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 681, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 693, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 717, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 741, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 831, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 876, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 897, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 924, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1035, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1170, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1171, "end_step": 1224, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1257, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1350, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1416, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1434, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1435, "end_step": 1530, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 273, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 330, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 477, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 633, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 681, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 693, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 717, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 741, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 831, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 876, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 897, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 898, "end_step": 924, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1035, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1170, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1171, "end_step": 1224, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1257, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1350, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1416, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1434, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1435, "end_step": 1530, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_34_02_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 7, "v40_language_source": "previous_published_lerobot", "episode_index": 4}
+{"source_uid": "c42f28b00ddab04a", "num_frames": 1711, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 279, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 345, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 346, "end_step": 456, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 630, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 687, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 688, "end_step": 702, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 738, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 774, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 870, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 915, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 936, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 966, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1062, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1212, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1213, "end_step": 1272, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1365, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1366, "end_step": 1395, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1396, "end_step": 1464, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1465, "end_step": 1518, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1519, "end_step": 1626, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 198, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 279, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 345, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 346, "end_step": 456, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 457, "end_step": 630, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 687, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 688, "end_step": 702, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 738, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 774, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 870, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 915, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 936, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 966, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1062, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1212, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1213, "end_step": 1272, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1365, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1366, "end_step": 1395, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1396, "end_step": 1464, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1465, "end_step": 1518, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1519, "end_step": 1626, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_35_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 8, "v40_language_source": "previous_published_lerobot", "episode_index": 5}
+{"source_uid": "e0ca5d2df0d59c88", "num_frames": 1496, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 288, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 387, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 388, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 591, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 612, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 630, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 660, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 789, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 831, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 957, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 958, "end_step": 1083, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1137, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1173, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1174, "end_step": 1248, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1249, "end_step": 1326, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1327, "end_step": 1347, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1348, "end_step": 1422, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 288, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 387, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 388, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 591, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 612, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 630, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 660, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 789, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 790, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 831, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 957, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 958, "end_step": 1083, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1137, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1173, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1174, "end_step": 1248, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1249, "end_step": 1326, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1327, "end_step": 1347, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1348, "end_step": 1422, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_36_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 6}
+{"source_uid": "a13a4ab6683a8ab8", "num_frames": 1467, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 270, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 396, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 582, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 624, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 645, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 646, "end_step": 738, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 762, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 780, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 801, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 802, "end_step": 927, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 928, "end_step": 1062, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1113, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1114, "end_step": 1167, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1224, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1275, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1276, "end_step": 1314, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1315, "end_step": 1392, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 270, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 396, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 582, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 624, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 645, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 646, "end_step": 738, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 762, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 780, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 801, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 802, "end_step": 927, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 928, "end_step": 1062, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1063, "end_step": 1113, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1114, "end_step": 1167, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1224, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1275, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1276, "end_step": 1314, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1315, "end_step": 1392, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_37_03_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 10, "v40_language_source": "previous_published_lerobot", "episode_index": 7}
+{"source_uid": "ba95b158c2cf9159", "num_frames": 1494, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 261, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 414, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 543, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 544, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 594, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 618, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 720, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 738, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 759, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 780, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 909, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 910, "end_step": 1038, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1039, "end_step": 1092, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1143, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1144, "end_step": 1194, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1257, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1419, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 261, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 414, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 543, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 544, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 594, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 618, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 720, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 738, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 759, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 780, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 909, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 910, "end_step": 1038, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1039, "end_step": 1092, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1143, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1144, "end_step": 1194, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1257, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1419, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_40_22_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 12, "v40_language_source": "previous_published_lerobot", "episode_index": 8}
+{"source_uid": "a85023e1a353b7e1", "num_frames": 1652, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 258, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 390, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 504, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 678, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 741, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 759, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 783, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 807, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 808, "end_step": 906, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 933, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 963, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 964, "end_step": 990, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1086, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1257, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1326, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1327, "end_step": 1353, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1354, "end_step": 1401, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1402, "end_step": 1458, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1459, "end_step": 1503, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1504, "end_step": 1581, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 258, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 390, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 504, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 678, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 741, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 759, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 760, "end_step": 783, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 807, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 808, "end_step": 906, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 933, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 963, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 964, "end_step": 990, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1086, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1257, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1326, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1327, "end_step": 1353, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1354, "end_step": 1401, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1402, "end_step": 1458, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1459, "end_step": 1503, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1504, "end_step": 1581, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_41_15_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 13, "v40_language_source": "previous_published_lerobot", "episode_index": 9}
+{"source_uid": "1976ecab84c4be20", "num_frames": 1526, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 201, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 202, "end_step": 294, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 330, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 432, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 603, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 666, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 681, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 708, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 741, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 837, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 838, "end_step": 864, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 885, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 909, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 910, "end_step": 1026, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1128, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1188, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1245, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1246, "end_step": 1281, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1282, "end_step": 1338, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1339, "end_step": 1371, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1458, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 201, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 202, "end_step": 294, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 330, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 331, "end_step": 432, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 433, "end_step": 603, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 666, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 681, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 708, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 741, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 742, "end_step": 837, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 838, "end_step": 864, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 885, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 909, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 910, "end_step": 1026, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1128, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1188, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1245, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1246, "end_step": 1281, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1282, "end_step": 1338, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1339, "end_step": 1371, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1458, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_44_19_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 14, "v40_language_source": "previous_published_lerobot", "episode_index": 10}
+{"source_uid": "df878959be9ec3be", "num_frames": 1645, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 300, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 417, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 418, "end_step": 576, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 627, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 639, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 660, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 696, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 792, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 831, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 858, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 891, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1014, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1015, "end_step": 1149, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1206, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1207, "end_step": 1287, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1288, "end_step": 1371, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1458, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1459, "end_step": 1518, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1519, "end_step": 1575, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 300, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 301, "end_step": 417, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 418, "end_step": 576, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 627, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 639, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 660, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 696, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 792, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 831, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 858, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 859, "end_step": 891, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1014, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1015, "end_step": 1149, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1206, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1207, "end_step": 1287, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1288, "end_step": 1371, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1458, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1459, "end_step": 1518, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1519, "end_step": 1575, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_45_15_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 15, "v40_language_source": "previous_published_lerobot", "episode_index": 11}
+{"source_uid": "3934e21591c58d0c", "num_frames": 1510, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 288, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 318, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 420, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 588, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 615, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 636, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 756, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 783, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 831, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 951, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 1089, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1137, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1188, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1263, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1264, "end_step": 1323, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1324, "end_step": 1386, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1387, "end_step": 1437, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 288, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 318, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 420, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 588, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 615, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 636, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 756, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 783, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 831, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 832, "end_step": 951, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 1089, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1137, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1188, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1263, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1264, "end_step": 1323, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1324, "end_step": 1386, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1387, "end_step": 1437, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_46_12_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 16, "v40_language_source": "previous_published_lerobot", "episode_index": 12}
+{"source_uid": "736fd81bebb999ed", "num_frames": 1569, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 258, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 291, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 411, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 594, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 639, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 648, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 669, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 670, "end_step": 705, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 816, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 837, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 838, "end_step": 861, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 862, "end_step": 888, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 990, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1170, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1171, "end_step": 1218, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1293, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1294, "end_step": 1323, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1324, "end_step": 1386, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1387, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1491, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 258, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 291, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 411, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 594, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 639, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 648, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 669, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 670, "end_step": 705, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 816, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 837, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 838, "end_step": 861, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 862, "end_step": 888, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 990, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 991, "end_step": 1170, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1171, "end_step": 1218, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1293, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1294, "end_step": 1323, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1324, "end_step": 1386, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1387, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1491, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_47_06_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 17, "v40_language_source": "previous_published_lerobot", "episode_index": 13}
+{"source_uid": "e1c41370ddce3c0a", "num_frames": 1483, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 285, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 390, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 543, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 544, "end_step": 582, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 594, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 621, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 652, "end_step": 735, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 768, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 792, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 825, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 924, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1077, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1128, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1191, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1192, "end_step": 1227, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1228, "end_step": 1293, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1294, "end_step": 1353, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1354, "end_step": 1407, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 285, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 286, "end_step": 390, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 543, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 544, "end_step": 582, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 594, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 621, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 652, "end_step": 735, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 768, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 792, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 825, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 924, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1077, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1128, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1191, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1192, "end_step": 1227, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1228, "end_step": 1293, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1294, "end_step": 1353, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1354, "end_step": 1407, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_48_54_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 19, "v40_language_source": "previous_published_lerobot", "episode_index": 14}
+{"source_uid": "3b157c8c695d9377", "num_frames": 1505, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 411, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 624, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 657, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 658, "end_step": 732, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 765, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 792, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 819, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 915, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1035, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1101, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1137, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1200, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1201, "end_step": 1269, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1270, "end_step": 1356, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1357, "end_step": 1434, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 303, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 304, "end_step": 411, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 624, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 657, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 658, "end_step": 732, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 733, "end_step": 765, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 792, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 819, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 915, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1035, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1101, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1137, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1138, "end_step": 1200, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1201, "end_step": 1269, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1270, "end_step": 1356, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1357, "end_step": 1434, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_49_46_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 20, "v40_language_source": "previous_published_lerobot", "episode_index": 15}
+{"source_uid": "9c95902d0ab5f42a", "num_frames": 1568, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 258, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 327, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 328, "end_step": 465, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 466, "end_step": 633, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 696, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 711, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 735, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 768, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 837, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 838, "end_step": 873, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 874, "end_step": 903, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 904, "end_step": 933, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 1053, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1054, "end_step": 1191, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1192, "end_step": 1251, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1252, "end_step": 1278, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1279, "end_step": 1320, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1321, "end_step": 1371, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1497, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 258, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 327, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 328, "end_step": 465, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 466, "end_step": 633, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 634, "end_step": 696, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 711, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 712, "end_step": 735, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 768, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 837, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 838, "end_step": 873, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 874, "end_step": 903, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 904, "end_step": 933, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 934, "end_step": 1053, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1054, "end_step": 1191, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1192, "end_step": 1251, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1252, "end_step": 1278, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1279, "end_step": 1320, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1321, "end_step": 1371, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1372, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1497, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_50_40_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 21, "v40_language_source": "previous_published_lerobot", "episode_index": 16}
+{"source_uid": "67839f3e388aed1e", "num_frames": 1622, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 291, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 405, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 406, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 627, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 657, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 658, "end_step": 753, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 774, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 798, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 825, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 1041, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1155, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1212, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1213, "end_step": 1296, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1297, "end_step": 1353, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1354, "end_step": 1443, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1444, "end_step": 1476, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1477, "end_step": 1539, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 291, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 405, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 406, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 597, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 627, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 657, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 658, "end_step": 753, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 774, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 798, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 825, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 1041, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1155, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1212, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1213, "end_step": 1296, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1297, "end_step": 1353, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1354, "end_step": 1443, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1444, "end_step": 1476, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1477, "end_step": 1539, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_51_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 22, "v40_language_source": "previous_published_lerobot", "episode_index": 17}
+{"source_uid": "0e28f6172300368e", "num_frames": 1487, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 264, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 381, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 382, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 600, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 618, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 774, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 795, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 822, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 951, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 1077, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1134, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1135, "end_step": 1215, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1216, "end_step": 1245, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1246, "end_step": 1308, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1309, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1422, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 264, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 381, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 382, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 585, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 600, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 618, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 619, "end_step": 648, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 774, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 795, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 822, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 823, "end_step": 951, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 1077, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1134, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1135, "end_step": 1215, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1216, "end_step": 1245, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1246, "end_step": 1308, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1309, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1422, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_52_54_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 23, "v40_language_source": "previous_published_lerobot", "episode_index": 18}
+{"source_uid": "f9c12a895212102f", "num_frames": 1431, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 261, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 390, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 528, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 570, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 582, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 600, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 636, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 735, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 753, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 786, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 819, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 939, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 940, "end_step": 1053, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1054, "end_step": 1104, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1194, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1221, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1269, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1270, "end_step": 1305, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1356, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 261, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 292, "end_step": 390, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 528, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 570, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 582, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 583, "end_step": 600, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 636, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 735, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 753, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 786, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 819, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 820, "end_step": 939, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 940, "end_step": 1053, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1054, "end_step": 1104, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1194, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1221, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1269, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1270, "end_step": 1305, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1356, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_54_00_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 24, "v40_language_source": "previous_published_lerobot", "episode_index": 19}
+{"source_uid": "d163e9c8822c3e53", "num_frames": 1416, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 372, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 510, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 558, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 564, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 588, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 615, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 702, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 756, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 774, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 801, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 802, "end_step": 906, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1035, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1086, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1161, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1162, "end_step": 1188, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1254, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1255, "end_step": 1284, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1347, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 372, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 510, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 558, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 564, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 588, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 615, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 702, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 703, "end_step": 756, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 774, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 775, "end_step": 801, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 802, "end_step": 906, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1035, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1086, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1161, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1162, "end_step": 1188, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1189, "end_step": 1254, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1255, "end_step": 1284, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1347, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_54_50_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 25, "v40_language_source": "previous_published_lerobot", "episode_index": 20}
+{"source_uid": "866c9c51ebcb6009", "num_frames": 1407, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 294, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 396, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 531, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 532, "end_step": 591, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 603, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 627, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 657, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 658, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 786, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 834, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 951, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 1068, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1069, "end_step": 1125, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1155, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1200, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1201, "end_step": 1257, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1287, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1288, "end_step": 1338, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 294, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 396, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 397, "end_step": 531, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 532, "end_step": 591, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 603, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 627, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 628, "end_step": 657, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 658, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 786, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 834, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 951, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 952, "end_step": 1068, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1069, "end_step": 1125, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1155, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1200, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1201, "end_step": 1257, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1287, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1288, "end_step": 1338, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_55_39_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 26, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
+{"source_uid": "d6cdf6336fa161d5", "num_frames": 1400, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 384, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 507, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 558, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 567, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 591, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 687, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 688, "end_step": 726, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 753, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 780, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 903, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 904, "end_step": 1026, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1083, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1122, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1123, "end_step": 1167, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1227, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1228, "end_step": 1251, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1252, "end_step": 1320, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 156, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 157, "end_step": 240, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 241, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 384, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 507, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 558, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 567, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 591, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 621, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 687, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 688, "end_step": 726, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 753, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 780, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 903, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 904, "end_step": 1026, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1083, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1122, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1123, "end_step": 1167, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1227, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1228, "end_step": 1251, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1252, "end_step": 1320, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_56_29_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 27, "v40_language_source": "previous_published_lerobot", "episode_index": 22}
+{"source_uid": "b33f695ea55c1565", "num_frames": 1537, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 243, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 244, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 387, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 388, "end_step": 522, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 576, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 591, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 615, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 648, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 783, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 810, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 840, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 954, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 1107, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1161, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1162, "end_step": 1197, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1198, "end_step": 1284, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1350, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1377, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1378, "end_step": 1458, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 243, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 244, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 387, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 388, "end_step": 522, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 576, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 591, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 592, "end_step": 615, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 648, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 783, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 810, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 840, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 954, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 1107, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1161, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1162, "end_step": 1197, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1198, "end_step": 1284, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1350, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1377, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1378, "end_step": 1458, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_19_58_08_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 29, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
+{"source_uid": "9ffb866fd72d0a1b", "num_frames": 1374, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 246, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 273, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 366, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 507, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 573, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 574, "end_step": 579, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 606, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 636, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 735, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 756, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 777, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 778, "end_step": 798, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 912, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 1026, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1080, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1107, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1158, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1159, "end_step": 1206, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1207, "end_step": 1230, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1231, "end_step": 1299, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 246, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 273, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 274, "end_step": 366, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 507, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 573, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 574, "end_step": 579, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 606, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 636, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 637, "end_step": 735, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 736, "end_step": 756, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 777, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 778, "end_step": 798, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 912, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 1026, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1027, "end_step": 1080, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1107, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1108, "end_step": 1158, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1159, "end_step": 1206, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1207, "end_step": 1230, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1231, "end_step": 1299, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_02_31_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 31, "v40_language_source": "previous_published_lerobot", "episode_index": 24}
+{"source_uid": "b717122ad8db7128", "num_frames": 1411, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 249, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 250, "end_step": 276, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 366, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 486, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 531, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 532, "end_step": 540, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 567, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 597, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 672, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 723, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 724, "end_step": 744, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 771, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 772, "end_step": 891, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1032, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1089, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1143, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1144, "end_step": 1182, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1183, "end_step": 1233, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1234, "end_step": 1263, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1264, "end_step": 1332, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 249, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 250, "end_step": 276, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 366, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 486, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 531, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 532, "end_step": 540, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 567, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 597, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 672, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 723, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 724, "end_step": 744, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 771, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 772, "end_step": 891, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1032, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1089, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1090, "end_step": 1143, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1144, "end_step": 1182, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1183, "end_step": 1233, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1234, "end_step": 1263, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1264, "end_step": 1332, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_03_19_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 32, "v40_language_source": "previous_published_lerobot", "episode_index": 25}
+{"source_uid": "ead2264e2196b9b2", "num_frames": 1400, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 261, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 294, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 393, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 394, "end_step": 513, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 564, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 579, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 594, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 624, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 717, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 765, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 786, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 810, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 909, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 910, "end_step": 1029, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1104, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1155, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1209, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1210, "end_step": 1239, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1240, "end_step": 1320, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 181, "end_step": 261, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 262, "end_step": 294, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 295, "end_step": 393, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 394, "end_step": 513, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 514, "end_step": 564, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 565, "end_step": 579, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 594, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 595, "end_step": 624, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 717, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 765, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 786, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 787, "end_step": 810, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 909, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 910, "end_step": 1029, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1104, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1155, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1209, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1210, "end_step": 1239, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1240, "end_step": 1320, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_04_08_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 33, "v40_language_source": "previous_published_lerobot", "episode_index": 26}
+{"source_uid": "776fb99182f62c75", "num_frames": 1590, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 378, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 498, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 540, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 561, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 562, "end_step": 585, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 612, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 705, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 738, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 756, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 783, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 906, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1050, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1051, "end_step": 1140, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1141, "end_step": 1224, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1305, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1380, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1381, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1530, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 378, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 498, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 499, "end_step": 540, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 561, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 562, "end_step": 585, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 612, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 705, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 738, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 756, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 783, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 906, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1050, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1051, "end_step": 1140, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1141, "end_step": 1224, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1305, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1380, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1381, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1530, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_04_56_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 34, "v40_language_source": "previous_published_lerobot", "episode_index": 27}
+{"source_uid": "ac4189dd97a7b83c", "num_frames": 1561, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 237, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 399, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 540, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 603, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 615, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 639, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 666, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 762, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 783, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 807, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 808, "end_step": 840, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 954, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 1068, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1069, "end_step": 1152, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1153, "end_step": 1233, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1234, "end_step": 1311, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1312, "end_step": 1383, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1384, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1476, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 237, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 279, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 280, "end_step": 399, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 400, "end_step": 540, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 603, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 604, "end_step": 615, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 616, "end_step": 639, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 666, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 762, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 763, "end_step": 783, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 784, "end_step": 807, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 808, "end_step": 840, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 954, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 955, "end_step": 1068, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1069, "end_step": 1152, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1153, "end_step": 1233, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1234, "end_step": 1311, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1312, "end_step": 1383, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1384, "end_step": 1416, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1476, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_05_53_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 35, "v40_language_source": "previous_published_lerobot", "episode_index": 28}
+{"source_uid": "d6158031f4240c28", "num_frames": 1385, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 225, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 226, "end_step": 297, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 298, "end_step": 420, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 579, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 585, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 609, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 610, "end_step": 639, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 717, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 738, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 768, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 795, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 915, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1029, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1077, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1092, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1167, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1224, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1257, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1314, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 225, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 226, "end_step": 297, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 298, "end_step": 420, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 421, "end_step": 537, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 579, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 585, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 609, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 610, "end_step": 639, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 640, "end_step": 717, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 738, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 768, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 795, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 915, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1029, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1077, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1092, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1167, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1168, "end_step": 1224, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1225, "end_step": 1257, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1314, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_07_54_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 37, "v40_language_source": "previous_published_lerobot", "episode_index": 29}
+{"source_uid": "4cd85532532bb990", "num_frames": 1423, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 141, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 142, "end_step": 228, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 282, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 372, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 510, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 567, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 579, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 597, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 624, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 729, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 730, "end_step": 756, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 780, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 810, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 924, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1041, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1101, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1155, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1200, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1201, "end_step": 1257, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1290, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1291, "end_step": 1350, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 141, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 142, "end_step": 228, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 282, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 372, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 373, "end_step": 510, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 567, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 579, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 580, "end_step": 597, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 598, "end_step": 624, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 625, "end_step": 729, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 730, "end_step": 756, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 780, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 810, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 924, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1041, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1101, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1102, "end_step": 1155, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1156, "end_step": 1200, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1201, "end_step": 1257, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1258, "end_step": 1290, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1291, "end_step": 1350, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_08_43_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 38, "v40_language_source": "previous_published_lerobot", "episode_index": 30}
+{"source_uid": "8cf54d0e5e9f7679", "num_frames": 1688, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 222, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 312, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 378, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 495, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 496, "end_step": 630, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 684, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 696, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 726, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 753, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 828, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 843, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 844, "end_step": 867, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 868, "end_step": 891, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1017, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1018, "end_step": 1125, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1197, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1198, "end_step": 1239, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1240, "end_step": 1404, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1405, "end_step": 1491, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1492, "end_step": 1548, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1549, "end_step": 1611, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 222, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 223, "end_step": 312, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 378, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 379, "end_step": 495, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 496, "end_step": 630, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 684, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 696, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 726, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 753, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 828, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 843, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 844, "end_step": 867, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 868, "end_step": 891, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 892, "end_step": 1017, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1018, "end_step": 1125, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1197, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1198, "end_step": 1239, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1240, "end_step": 1404, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1405, "end_step": 1491, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1492, "end_step": 1548, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1549, "end_step": 1611, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_10_06_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 39, "v40_language_source": "previous_published_lerobot", "episode_index": 31}
+{"source_uid": "d9a67cfab2adc5c3", "num_frames": 1282, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 228, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 276, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 369, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 480, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 522, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 534, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 558, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 588, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 663, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 664, "end_step": 681, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 705, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 729, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 730, "end_step": 834, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 930, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 972, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 973, "end_step": 1041, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1077, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1122, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1123, "end_step": 1146, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1147, "end_step": 1209, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 153, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 154, "end_step": 228, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 229, "end_step": 276, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 277, "end_step": 369, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 480, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 522, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 534, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 535, "end_step": 558, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 588, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 663, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 664, "end_step": 681, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 705, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 729, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 730, "end_step": 834, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 835, "end_step": 930, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 972, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 973, "end_step": 1041, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1042, "end_step": 1077, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1078, "end_step": 1122, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1123, "end_step": 1146, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1147, "end_step": 1209, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_11_57_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 41, "v40_language_source": "previous_published_lerobot", "episode_index": 32}
+{"source_uid": "31f4119a52f0ea82", "num_frames": 1336, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 198, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 270, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 369, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 510, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 552, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 570, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 585, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 606, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 693, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 717, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 744, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 768, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 888, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 996, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 997, "end_step": 1044, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1045, "end_step": 1083, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1125, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1176, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1177, "end_step": 1218, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1263, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 138, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 139, "end_step": 198, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 199, "end_step": 270, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 369, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 510, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 552, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 570, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 585, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 606, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 607, "end_step": 693, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 694, "end_step": 717, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 718, "end_step": 744, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 768, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 888, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 996, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 997, "end_step": 1044, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1045, "end_step": 1083, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1084, "end_step": 1125, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1126, "end_step": 1176, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1177, "end_step": 1218, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1263, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_12_41_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 42, "v40_language_source": "previous_published_lerobot", "episode_index": 33}
+{"source_uid": "85f9550a043eb752", "num_frames": 1486, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 258, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 354, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 477, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 528, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 537, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 558, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 585, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 672, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 714, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 738, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 768, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 912, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 1044, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1045, "end_step": 1098, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1099, "end_step": 1185, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1186, "end_step": 1221, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1305, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1410, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 234, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 258, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 354, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 355, "end_step": 477, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 478, "end_step": 528, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 537, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 538, "end_step": 558, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 585, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 672, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 714, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 738, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 739, "end_step": 768, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 769, "end_step": 912, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 1044, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1045, "end_step": 1098, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1099, "end_step": 1185, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1186, "end_step": 1221, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1222, "end_step": 1305, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1306, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1410, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_13_28_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 43, "v40_language_source": "previous_published_lerobot", "episode_index": 34}
+{"source_uid": "e97cee5e19a47a8c", "num_frames": 1444, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 237, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 258, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 360, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 507, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 552, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 567, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 585, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 621, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 696, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 726, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 753, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 780, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 900, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 1029, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1134, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1135, "end_step": 1182, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1183, "end_step": 1236, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1237, "end_step": 1284, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1368, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 150, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 151, "end_step": 237, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 238, "end_step": 258, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 259, "end_step": 360, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 507, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 508, "end_step": 552, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 553, "end_step": 567, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 585, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 621, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 622, "end_step": 696, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 726, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 753, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 754, "end_step": 780, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 900, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 1029, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1030, "end_step": 1080, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1134, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1135, "end_step": 1182, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1183, "end_step": 1236, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1237, "end_step": 1284, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1368, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_14_21_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 44, "v40_language_source": "previous_published_lerobot", "episode_index": 35}
+{"source_uid": "790642bab72db9c3", "num_frames": 2370, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 154, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 248, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 284, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 380, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 381, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 584, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 585, "end_step": 602, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 603, "end_step": 634, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 652, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 653, "end_step": 740, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 874, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 875, "end_step": 906, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 936, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1054, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1055, "end_step": 1172, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1173, "end_step": 1230, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1231, "end_step": 2090, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 2091, "end_step": 2144, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 2145, "end_step": 2204, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 2205, "end_step": 2236, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 2237, "end_step": 2302, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 154, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 248, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 284, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 380, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 381, "end_step": 546, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 547, "end_step": 584, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 585, "end_step": 602, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 603, "end_step": 634, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 652, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 653, "end_step": 740, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 874, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 875, "end_step": 906, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 936, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 937, "end_step": 1054, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1055, "end_step": 1172, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1173, "end_step": 1230, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1231, "end_step": 2090, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 2091, "end_step": 2144, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 2145, "end_step": 2204, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 2205, "end_step": 2236, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 2237, "end_step": 2302, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_15_11_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 45, "v40_language_source": "previous_published_lerobot", "episode_index": 36}
+{"source_uid": "cbd31bbb0ec57d5c", "num_frames": 1472, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 148, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 149, "end_step": 266, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 278, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 279, "end_step": 374, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 375, "end_step": 522, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 576, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 608, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 650, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 678, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 744, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 776, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 777, "end_step": 818, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 819, "end_step": 838, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 839, "end_step": 952, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 953, "end_step": 1082, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 1126, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1127, "end_step": 1198, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1199, "end_step": 1246, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1247, "end_step": 1294, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1295, "end_step": 1332, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1406, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 148, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 149, "end_step": 266, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 278, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 279, "end_step": 374, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 375, "end_step": 522, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 576, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 608, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 650, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 678, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 679, "end_step": 744, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 776, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 777, "end_step": 818, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 819, "end_step": 838, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 839, "end_step": 952, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 953, "end_step": 1082, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 1126, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1127, "end_step": 1198, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1199, "end_step": 1246, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1247, "end_step": 1294, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1295, "end_step": 1332, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1406, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_17_07_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 46, "v40_language_source": "previous_published_lerobot", "episode_index": 37}
+{"source_uid": "0961467e8fa38aaf", "num_frames": 1584, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 158, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 159, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 286, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 287, "end_step": 382, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 383, "end_step": 562, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 616, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 617, "end_step": 642, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 666, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 682, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 683, "end_step": 756, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 870, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 902, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 924, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1022, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1023, "end_step": 1144, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1145, "end_step": 1194, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1262, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1263, "end_step": 1302, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1303, "end_step": 1370, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1371, "end_step": 1458, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1459, "end_step": 1520, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 158, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 159, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 286, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 287, "end_step": 382, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 383, "end_step": 562, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 616, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 617, "end_step": 642, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 643, "end_step": 666, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 667, "end_step": 682, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 683, "end_step": 756, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 757, "end_step": 870, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 902, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 924, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 925, "end_step": 1022, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1023, "end_step": 1144, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1145, "end_step": 1194, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1262, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1263, "end_step": 1302, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1303, "end_step": 1370, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1371, "end_step": 1458, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1459, "end_step": 1520, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_18_00_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 47, "v40_language_source": "previous_published_lerobot", "episode_index": 38}
+{"source_uid": "400d5a5db9fd2fd8", "num_frames": 1800, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 284, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 312, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 430, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 596, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 597, "end_step": 640, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 641, "end_step": 658, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 659, "end_step": 690, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 710, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 711, "end_step": 798, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 826, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 827, "end_step": 862, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 863, "end_step": 894, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 998, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 999, "end_step": 1226, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1227, "end_step": 1272, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1400, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1401, "end_step": 1440, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1441, "end_step": 1534, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1535, "end_step": 1644, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1645, "end_step": 1720, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 284, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 312, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 313, "end_step": 430, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 596, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 597, "end_step": 640, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 641, "end_step": 658, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 659, "end_step": 690, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 710, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 711, "end_step": 798, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 799, "end_step": 826, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 827, "end_step": 862, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 863, "end_step": 894, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 998, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 999, "end_step": 1226, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1227, "end_step": 1272, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1273, "end_step": 1400, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1401, "end_step": 1440, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1441, "end_step": 1534, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1535, "end_step": 1644, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1645, "end_step": 1720, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_19_02_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 48, "v40_language_source": "previous_published_lerobot", "episode_index": 39}
+{"source_uid": "08fedbc174c8951c", "num_frames": 1475, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 176, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 177, "end_step": 292, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 293, "end_step": 310, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 311, "end_step": 434, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 435, "end_step": 588, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 632, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 633, "end_step": 648, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 672, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 694, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 695, "end_step": 780, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 816, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 860, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 861, "end_step": 876, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 974, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 975, "end_step": 1090, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1091, "end_step": 1138, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1139, "end_step": 1154, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1155, "end_step": 1214, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1215, "end_step": 1294, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1295, "end_step": 1322, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1323, "end_step": 1408, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 176, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 177, "end_step": 292, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 293, "end_step": 310, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 311, "end_step": 434, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 435, "end_step": 588, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 632, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 633, "end_step": 648, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 649, "end_step": 672, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 694, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 695, "end_step": 780, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 816, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 860, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 861, "end_step": 876, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 974, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 975, "end_step": 1090, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1091, "end_step": 1138, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1139, "end_step": 1154, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1155, "end_step": 1214, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1215, "end_step": 1294, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1295, "end_step": 1322, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1323, "end_step": 1408, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_20_39_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 49, "v40_language_source": "previous_published_lerobot", "episode_index": 40}
+{"source_uid": "0ec336a876228e52", "num_frames": 1611, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 250, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 350, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 351, "end_step": 376, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 377, "end_step": 480, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 614, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 615, "end_step": 650, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 670, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 671, "end_step": 706, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 707, "end_step": 718, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 719, "end_step": 802, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 803, "end_step": 874, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 875, "end_step": 902, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 914, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 915, "end_step": 1036, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1037, "end_step": 1182, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1183, "end_step": 1226, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1227, "end_step": 1304, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1305, "end_step": 1350, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1416, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1466, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1467, "end_step": 1534, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 250, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 350, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 351, "end_step": 376, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 377, "end_step": 480, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 481, "end_step": 614, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 615, "end_step": 650, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 670, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 671, "end_step": 706, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 707, "end_step": 718, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 719, "end_step": 802, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 803, "end_step": 874, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 875, "end_step": 902, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 914, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 915, "end_step": 1036, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1037, "end_step": 1182, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1183, "end_step": 1226, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1227, "end_step": 1304, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1305, "end_step": 1350, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1416, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1417, "end_step": 1466, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1467, "end_step": 1534, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_21_33_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 50, "v40_language_source": "previous_published_lerobot", "episode_index": 41}
+{"source_uid": "3dcf9879578a248a", "num_frames": 2043, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 282, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 336, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 442, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 443, "end_step": 628, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 629, "end_step": 697, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 698, "end_step": 703, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 704, "end_step": 721, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 722, "end_step": 760, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 859, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 860, "end_step": 889, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 890, "end_step": 913, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 914, "end_step": 955, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 956, "end_step": 1075, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1076, "end_step": 1246, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1247, "end_step": 1306, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1307, "end_step": 1363, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1364, "end_step": 1813, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1814, "end_step": 1858, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1859, "end_step": 1894, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1895, "end_step": 1963, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 282, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 336, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 337, "end_step": 442, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 443, "end_step": 628, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 629, "end_step": 697, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 698, "end_step": 703, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 704, "end_step": 721, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 722, "end_step": 760, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 859, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 860, "end_step": 889, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 890, "end_step": 913, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 914, "end_step": 955, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 956, "end_step": 1075, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1076, "end_step": 1246, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1247, "end_step": 1306, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1307, "end_step": 1363, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1364, "end_step": 1813, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1814, "end_step": 1858, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1859, "end_step": 1894, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1895, "end_step": 1963, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_23_31_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 52, "v40_language_source": "previous_published_lerobot", "episode_index": 42}
+{"source_uid": "828fc34effb90c27", "num_frames": 1697, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 158, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 159, "end_step": 266, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 292, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 293, "end_step": 398, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 399, "end_step": 524, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 525, "end_step": 586, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 587, "end_step": 612, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 638, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 639, "end_step": 664, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 665, "end_step": 744, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 854, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 855, "end_step": 886, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 887, "end_step": 916, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 917, "end_step": 1042, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1043, "end_step": 1186, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1187, "end_step": 1236, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1237, "end_step": 1278, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1279, "end_step": 1342, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1343, "end_step": 1460, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1461, "end_step": 1514, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1515, "end_step": 1632, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 158, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 159, "end_step": 266, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 292, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 293, "end_step": 398, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 399, "end_step": 524, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 525, "end_step": 586, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 587, "end_step": 612, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 638, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 639, "end_step": 664, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 665, "end_step": 744, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 745, "end_step": 854, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 855, "end_step": 886, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 887, "end_step": 916, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 917, "end_step": 1042, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1043, "end_step": 1186, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1187, "end_step": 1236, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1237, "end_step": 1278, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1279, "end_step": 1342, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1343, "end_step": 1460, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1461, "end_step": 1514, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1515, "end_step": 1632, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_24_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 53, "v40_language_source": "previous_published_lerobot", "episode_index": 43}
+{"source_uid": "c83e074546ae16ef", "num_frames": 1659, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 282, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 338, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 339, "end_step": 478, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 479, "end_step": 608, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 652, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 653, "end_step": 674, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 675, "end_step": 700, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 730, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 731, "end_step": 806, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 807, "end_step": 836, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 882, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 910, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1010, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1011, "end_step": 1142, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1143, "end_step": 1186, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1187, "end_step": 1250, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1251, "end_step": 1294, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1295, "end_step": 1396, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1397, "end_step": 1446, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1447, "end_step": 1580, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 172, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 173, "end_step": 282, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 283, "end_step": 338, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 339, "end_step": 478, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 479, "end_step": 608, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 652, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 653, "end_step": 674, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 675, "end_step": 700, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 730, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 731, "end_step": 806, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 807, "end_step": 836, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 882, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 910, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1010, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1011, "end_step": 1142, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1143, "end_step": 1186, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1187, "end_step": 1250, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1251, "end_step": 1294, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1295, "end_step": 1396, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1397, "end_step": 1446, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1447, "end_step": 1580, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_28_56_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 54, "v40_language_source": "previous_published_lerobot", "episode_index": 44}
+{"source_uid": "b7b425dd2b6004ee", "num_frames": 1586, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 290, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 308, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 309, "end_step": 430, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 570, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 608, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 632, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 633, "end_step": 662, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 680, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 681, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 778, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 779, "end_step": 800, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 801, "end_step": 814, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 815, "end_step": 910, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1032, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1082, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 1128, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1222, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1223, "end_step": 1338, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1339, "end_step": 1364, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1365, "end_step": 1522, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 166, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 167, "end_step": 290, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 308, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 309, "end_step": 430, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 570, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 608, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 609, "end_step": 632, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 633, "end_step": 662, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 680, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 681, "end_step": 750, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 778, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 779, "end_step": 800, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 801, "end_step": 814, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 815, "end_step": 910, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1032, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1082, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1083, "end_step": 1128, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1129, "end_step": 1222, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1223, "end_step": 1338, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1339, "end_step": 1364, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1365, "end_step": 1522, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_29_54_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 55, "v40_language_source": "previous_published_lerobot", "episode_index": 45}
+{"source_uid": "5865ab77d8883238", "num_frames": 1553, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 148, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 149, "end_step": 254, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 374, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 375, "end_step": 528, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 568, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 569, "end_step": 662, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 700, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 726, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 792, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 836, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 864, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 888, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 1004, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1005, "end_step": 1148, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1149, "end_step": 1184, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1185, "end_step": 1210, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1211, "end_step": 1266, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1267, "end_step": 1352, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1353, "end_step": 1392, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1393, "end_step": 1478, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 148, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 149, "end_step": 254, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 285, "end_step": 374, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 375, "end_step": 528, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 529, "end_step": 568, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 569, "end_step": 662, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 700, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 726, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 792, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 793, "end_step": 836, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 864, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 865, "end_step": 888, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 889, "end_step": 1004, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1005, "end_step": 1148, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1149, "end_step": 1184, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1185, "end_step": 1210, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1211, "end_step": 1266, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1267, "end_step": 1352, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1353, "end_step": 1392, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1393, "end_step": 1478, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_30_49_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 56, "v40_language_source": "previous_published_lerobot", "episode_index": 46}
+{"source_uid": "1dca11eeb301f1ff", "num_frames": 1851, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 290, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 402, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 604, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 605, "end_step": 662, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 688, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 689, "end_step": 724, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 725, "end_step": 778, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 779, "end_step": 872, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 873, "end_step": 912, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 948, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 949, "end_step": 966, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1080, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1258, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1259, "end_step": 1308, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1309, "end_step": 1486, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1487, "end_step": 1588, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1589, "end_step": 1664, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1665, "end_step": 1706, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1707, "end_step": 1774, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 264, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 265, "end_step": 290, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 291, "end_step": 402, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 403, "end_step": 604, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 605, "end_step": 662, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 688, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 689, "end_step": 724, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 725, "end_step": 778, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 779, "end_step": 872, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 873, "end_step": 912, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 913, "end_step": 948, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 949, "end_step": 966, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 967, "end_step": 1080, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1258, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1259, "end_step": 1308, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1309, "end_step": 1486, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1487, "end_step": 1588, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1589, "end_step": 1664, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1665, "end_step": 1706, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1707, "end_step": 1774, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_31_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 57, "v40_language_source": "previous_published_lerobot", "episode_index": 47}
+{"source_uid": "575b43b77a44b29d", "num_frames": 1730, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 288, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 314, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 315, "end_step": 428, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 429, "end_step": 588, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 634, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 654, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 686, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 687, "end_step": 714, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 814, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 815, "end_step": 842, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 843, "end_step": 880, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 906, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1032, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1332, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1378, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1379, "end_step": 1410, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1411, "end_step": 1454, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1455, "end_step": 1520, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1521, "end_step": 1574, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1575, "end_step": 1662, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 168, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 169, "end_step": 288, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 289, "end_step": 314, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 315, "end_step": 428, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 429, "end_step": 588, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 589, "end_step": 634, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 654, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 686, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 687, "end_step": 714, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 715, "end_step": 814, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 815, "end_step": 842, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 843, "end_step": 880, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 906, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 907, "end_step": 1032, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1033, "end_step": 1332, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1333, "end_step": 1378, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1379, "end_step": 1410, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1411, "end_step": 1454, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1455, "end_step": 1520, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1521, "end_step": 1574, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1575, "end_step": 1662, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_33_57_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 59, "v40_language_source": "previous_published_lerobot", "episode_index": 48}
+{"source_uid": "aacc20e350e91a2e", "num_frames": 1614, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 274, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 275, "end_step": 360, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 486, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 634, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 684, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 692, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 693, "end_step": 712, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 713, "end_step": 736, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 737, "end_step": 828, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 856, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 857, "end_step": 882, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 902, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 1018, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1019, "end_step": 1194, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1242, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1310, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1311, "end_step": 1348, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1349, "end_step": 1418, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1419, "end_step": 1470, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1471, "end_step": 1540, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 274, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 275, "end_step": 360, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 486, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 487, "end_step": 634, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 684, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 685, "end_step": 692, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 693, "end_step": 712, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 713, "end_step": 736, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 737, "end_step": 828, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 829, "end_step": 856, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 857, "end_step": 882, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 883, "end_step": 902, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 903, "end_step": 1018, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1019, "end_step": 1194, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1195, "end_step": 1242, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1243, "end_step": 1310, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1311, "end_step": 1348, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1349, "end_step": 1418, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1419, "end_step": 1470, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1471, "end_step": 1540, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_34_59_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 60, "v40_language_source": "previous_published_lerobot", "episode_index": 49}
+{"source_uid": "4dac8f1bcb26a703", "num_frames": 1384, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 142, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 143, "end_step": 256, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 257, "end_step": 306, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 410, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 411, "end_step": 520, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 550, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 551, "end_step": 576, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 602, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 603, "end_step": 644, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 645, "end_step": 704, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 705, "end_step": 726, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 766, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 767, "end_step": 788, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 789, "end_step": 904, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 905, "end_step": 1016, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1017, "end_step": 1058, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1059, "end_step": 1092, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1146, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1147, "end_step": 1218, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1240, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1241, "end_step": 1318, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 142, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 143, "end_step": 256, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 257, "end_step": 306, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 307, "end_step": 410, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 411, "end_step": 520, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 550, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 551, "end_step": 576, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 577, "end_step": 602, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 603, "end_step": 644, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 645, "end_step": 704, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 705, "end_step": 726, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 727, "end_step": 766, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 767, "end_step": 788, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 789, "end_step": 904, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 905, "end_step": 1016, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1017, "end_step": 1058, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1059, "end_step": 1092, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1093, "end_step": 1146, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1147, "end_step": 1218, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1219, "end_step": 1240, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1241, "end_step": 1318, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_43_09_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 63, "v40_language_source": "previous_published_lerobot", "episode_index": 50}
+{"source_uid": "cb2a652f0cf6d06a", "num_frames": 1532, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 298, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 299, "end_step": 318, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 414, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 562, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 626, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 627, "end_step": 654, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 688, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 689, "end_step": 712, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 713, "end_step": 796, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 797, "end_step": 848, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 849, "end_step": 874, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 875, "end_step": 894, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 1002, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1003, "end_step": 1148, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1149, "end_step": 1220, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1221, "end_step": 1250, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1251, "end_step": 1280, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1281, "end_step": 1342, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1343, "end_step": 1376, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1377, "end_step": 1468, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 174, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 175, "end_step": 298, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 299, "end_step": 318, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 319, "end_step": 414, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 415, "end_step": 562, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 626, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 627, "end_step": 654, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 688, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 689, "end_step": 712, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 713, "end_step": 796, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 797, "end_step": 848, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 849, "end_step": 874, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 875, "end_step": 894, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 895, "end_step": 1002, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1003, "end_step": 1148, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1149, "end_step": 1220, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1221, "end_step": 1250, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1251, "end_step": 1280, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1281, "end_step": 1342, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1343, "end_step": 1376, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1377, "end_step": 1468, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_43_58_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 64, "v40_language_source": "previous_published_lerobot", "episode_index": 51}
+{"source_uid": "cabb2b7638520183", "num_frames": 1514, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 152, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 153, "end_step": 278, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 279, "end_step": 302, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 303, "end_step": 390, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 556, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 600, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 634, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 672, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 708, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 788, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 789, "end_step": 824, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 825, "end_step": 868, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 869, "end_step": 884, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 885, "end_step": 986, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 987, "end_step": 1104, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1156, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1157, "end_step": 1186, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1187, "end_step": 1238, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1239, "end_step": 1318, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1319, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1448, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 152, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 153, "end_step": 278, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 279, "end_step": 302, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 303, "end_step": 390, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 556, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 600, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 634, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 635, "end_step": 672, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 708, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 709, "end_step": 788, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 789, "end_step": 824, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 825, "end_step": 868, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 869, "end_step": 884, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 885, "end_step": 986, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 987, "end_step": 1104, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1156, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1157, "end_step": 1186, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1187, "end_step": 1238, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1239, "end_step": 1318, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1319, "end_step": 1350, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1351, "end_step": 1448, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_45_08_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 65, "v40_language_source": "previous_published_lerobot", "episode_index": 52}
+{"source_uid": "fc546403bdc07b20", "num_frames": 1492, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 154, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 272, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 273, "end_step": 366, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 518, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 519, "end_step": 558, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 568, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 569, "end_step": 590, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 620, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 621, "end_step": 700, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 772, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 773, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 818, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 819, "end_step": 932, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 933, "end_step": 1052, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1053, "end_step": 1090, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1091, "end_step": 1168, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1169, "end_step": 1208, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1209, "end_step": 1284, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1320, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1321, "end_step": 1424, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 154, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 252, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 272, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 273, "end_step": 366, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 367, "end_step": 518, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 519, "end_step": 558, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 568, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 569, "end_step": 590, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 620, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 621, "end_step": 700, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 772, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 773, "end_step": 804, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 805, "end_step": 818, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 819, "end_step": 932, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 933, "end_step": 1052, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1053, "end_step": 1090, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1091, "end_step": 1168, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1169, "end_step": 1208, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1209, "end_step": 1284, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1285, "end_step": 1320, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1321, "end_step": 1424, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_46_58_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 67, "v40_language_source": "previous_published_lerobot", "episode_index": 53}
+{"source_uid": "6e24ec0e5e7b6880", "num_frames": 1371, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 152, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 153, "end_step": 242, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 243, "end_step": 260, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 261, "end_step": 350, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 351, "end_step": 504, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 544, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 545, "end_step": 556, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 580, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 581, "end_step": 614, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 615, "end_step": 672, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 720, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 746, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 747, "end_step": 760, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 876, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 992, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 993, "end_step": 1052, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1053, "end_step": 1104, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1132, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1133, "end_step": 1190, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1191, "end_step": 1232, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1233, "end_step": 1304, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 152, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 153, "end_step": 242, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 243, "end_step": 260, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 261, "end_step": 350, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 351, "end_step": 504, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 544, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 545, "end_step": 556, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 557, "end_step": 580, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 581, "end_step": 614, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 615, "end_step": 672, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 673, "end_step": 720, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 746, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 747, "end_step": 760, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 876, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 877, "end_step": 992, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 993, "end_step": 1052, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1053, "end_step": 1104, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1105, "end_step": 1132, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1133, "end_step": 1190, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1191, "end_step": 1232, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1233, "end_step": 1304, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_47_50_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 68, "v40_language_source": "previous_published_lerobot", "episode_index": 54}
+{"source_uid": "9999c92dcbf74615", "num_frames": 1343, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 140, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 141, "end_step": 244, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 245, "end_step": 266, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 358, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 359, "end_step": 462, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 504, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 526, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 527, "end_step": 548, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 549, "end_step": 570, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 622, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 623, "end_step": 662, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 698, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 699, "end_step": 712, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 713, "end_step": 816, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 934, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 935, "end_step": 988, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 989, "end_step": 1020, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1021, "end_step": 1066, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1067, "end_step": 1114, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1115, "end_step": 1156, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1157, "end_step": 1280, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 140, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 141, "end_step": 244, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 245, "end_step": 266, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 267, "end_step": 358, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 359, "end_step": 462, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 463, "end_step": 504, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 505, "end_step": 526, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 527, "end_step": 548, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 549, "end_step": 570, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 571, "end_step": 622, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 623, "end_step": 662, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 663, "end_step": 698, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 699, "end_step": 712, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 713, "end_step": 816, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 934, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 935, "end_step": 988, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 989, "end_step": 1020, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1021, "end_step": 1066, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1067, "end_step": 1114, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1115, "end_step": 1156, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1157, "end_step": 1280, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_48_38_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 69, "v40_language_source": "previous_published_lerobot", "episode_index": 55}
+{"source_uid": "ee9eff2d947f58ad", "num_frames": 1316, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 130, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 131, "end_step": 224, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 248, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 356, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 357, "end_step": 482, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 520, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 538, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 539, "end_step": 562, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 586, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 587, "end_step": 654, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 696, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 728, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 729, "end_step": 748, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 749, "end_step": 836, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 950, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 951, "end_step": 988, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 989, "end_step": 1036, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1037, "end_step": 1086, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1150, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1151, "end_step": 1178, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1179, "end_step": 1252, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 130, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 131, "end_step": 224, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 248, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 249, "end_step": 356, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 357, "end_step": 482, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 520, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 521, "end_step": 538, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 539, "end_step": 562, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 563, "end_step": 586, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 587, "end_step": 654, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 655, "end_step": 696, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 697, "end_step": 728, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 729, "end_step": 748, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 749, "end_step": 836, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 837, "end_step": 950, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 951, "end_step": 988, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 989, "end_step": 1036, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1037, "end_step": 1086, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1087, "end_step": 1150, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1151, "end_step": 1178, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1179, "end_step": 1252, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_49_26_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 70, "v40_language_source": "previous_published_lerobot", "episode_index": 56}
+{"source_uid": "09d8bfe0ec7beb40", "num_frames": 1397, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Test Tube Liquid Transfer with Dropper | Instruction: Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack. | Scene: A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table. | Success: Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "tags": {"task_name": "Test Tube Liquid Transfer with Dropper", "task_instruction": "Extract the test tube from the rack with the left hand. Then move the right hand to the stopper, remove the stopper from the test tube, and place it on the table. Next, pick up the dropper with the right hand, move it above the beaker, align it, insert it into the beaker, aspirate liquid, move it above the test tube, align it, insert it into the test tube, and dispense the liquid. Then place the dropper flat on the table. After that, pick up the stopper with the right hand, move it above the test tube, align it, and insert it into the test tube. Finally, move the test tube to the rack with the left hand, align it with the rack, and insert it back into the rack.", "scene_description": "A test tube rack, a test tube, a dropper, and a beaker are placed on the table. The test tube is inserted in the rack, while the dropper and the beaker are on the table.", "success_criteria": "Liquid is inside the test tube, the test tube is sealed with the stopper, and the test tube is stably placed in the rack.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 149, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 150, "end_step": 227, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 228, "end_step": 245, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 246, "end_step": 345, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 346, "end_step": 473, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 474, "end_step": 515, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 516, "end_step": 541, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 542, "end_step": 567, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 589, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 590, "end_step": 681, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 705, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 737, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 738, "end_step": 757, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 758, "end_step": 861, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 862, "end_step": 997, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 998, "end_step": 1033, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1034, "end_step": 1121, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1122, "end_step": 1149, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1219, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1220, "end_step": 1247, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1248, "end_step": 1333, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 149, "id": "subtask-001", "text": "Extract the test tube from the rack with the left hand. | Skill: extract", "task_skill": "extract", "atomic_action": []}, {"label": "subtasks", "start_step": 150, "end_step": 227, "id": "subtask-002", "text": "Move the right hand to the stopper on the test tube. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 228, "end_step": 245, "id": "subtask-003", "text": "Upcap the stopper from the test tube with the right hand. | Skill: upcap", "task_skill": "upcap", "atomic_action": []}, {"label": "subtasks", "start_step": 246, "end_step": 345, "id": "subtask-004", "text": "Place the stopper on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 346, "end_step": 473, "id": "subtask-005", "text": "Pick up the dropper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 474, "end_step": 515, "id": "subtask-006", "text": "Move the dropper above the beaker with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 516, "end_step": 541, "id": "subtask-007", "text": "Align the dropper with the beaker opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 542, "end_step": 567, "id": "subtask-008", "text": "Insert the dropper into the beaker with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 568, "end_step": 589, "id": "subtask-009", "text": "Aspirate liquid with the dropper using the right hand. | Skill: aspirate", "task_skill": "aspirate", "atomic_action": []}, {"label": "subtasks", "start_step": 590, "end_step": 681, "id": "subtask-010", "text": "Move the dropper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 682, "end_step": 705, "id": "subtask-011", "text": "Align the dropper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 737, "id": "subtask-012", "text": "Insert the dropper into the test tube with the right hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}, {"label": "subtasks", "start_step": 738, "end_step": 757, "id": "subtask-013", "text": "Dispense liquid into the test tube with the dropper using the right hand. | Skill: dispense", "task_skill": "dispense", "atomic_action": []}, {"label": "subtasks", "start_step": 758, "end_step": 861, "id": "subtask-014", "text": "Place the dropper flat on the table with the right hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 862, "end_step": 997, "id": "subtask-015", "text": "Pick up the stopper from the table with the right hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 998, "end_step": 1033, "id": "subtask-016", "text": "Move the stopper above the test tube with the right hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1034, "end_step": 1121, "id": "subtask-017", "text": "Align the stopper with the test tube opening with the right hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1122, "end_step": 1149, "id": "subtask-018", "text": "Cap the test tube with the stopper using the right hand. | Skill: cap", "task_skill": "cap", "atomic_action": []}, {"label": "subtasks", "start_step": 1150, "end_step": 1219, "id": "subtask-019", "text": "Move the test tube to the rack with the left hand. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1220, "end_step": 1247, "id": "subtask-020", "text": "Align the test tube with the rack using the left hand. | Skill: align", "task_skill": "align", "atomic_action": []}, {"label": "subtasks", "start_step": 1248, "end_step": 1333, "id": "subtask-021", "text": "Insert the test tube into the rack with the left hand. | Skill: insert", "task_skill": "insert", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/SciExperiment/season_POC22018_2026_04_03_19_23_39_train/POC22018_2026_04_03_20_50_17_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 71, "v40_language_source": "previous_published_lerobot", "episode_index": 57}
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..60dec29edcac57d5036a6d2f8d2d361a1e820937
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/meta/episodes/chunk-000/file-000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6160ead66b087ce3c45d6dc47c8fe79c0484485f872460684bc15c146ecaed27
+size 1643300
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/meta/info.json b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..710d7b0431be570ca8393634a4f8e484aec50eec
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v3.0",
+    "robot_type": "robot",
+    "total_episodes": 58,
+    "total_frames": 89918,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "fps": 30,
+    "splits": {
+        "train": "0:58"
+    },
+    "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/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/meta/modality.json b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/meta/stats.json b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef5910a788618a4466b90fec2f16c9428c330b73
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
+    "frame_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            2369
+        ],
+        "mean": [
+            784.9240419048466
+        ],
+        "std": [
+            467.4553789849447
+        ],
+        "count": [
+            89918
+        ],
+        "q01": [
+            15.156370359429491
+        ],
+        "q10": [
+            156.60871591753377
+        ],
+        "q50": [
+            784.8069324250987
+        ],
+        "q90": [
+            1413.1516544866126
+        ],
+        "q99": [
+            1554.6511698438665
+        ]
+    },
+    "index": {
+        "min": [
+            0
+        ],
+        "max": [
+            89917
+        ],
+        "mean": [
+            44958.5
+        ],
+        "std": [
+            25957.090750891173
+        ],
+        "count": [
+            89918
+        ],
+        "q01": [
+            44188.732328454564
+        ],
+        "q10": [
+            44330.1846740127
+        ],
+        "q50": [
+            44958.39769502658
+        ],
+        "q90": [
+            45586.72761258177
+        ],
+        "q99": [
+            45728.227127939026
+        ]
+    },
+    "action.tcp_pose": {
+        "min": [
+            0.3144718408584595,
+            0.11940367519855499,
+            1.0104089975357056,
+            -1.3496545553207397,
+            0.869015634059906,
+            -1.829854965209961,
+            0.23656065762043,
+            -0.3637261688709259,
+            0.9733814597129822,
+            -0.6858494877815247,
+            0.6465170979499817,
+            -0.07695472985506058
+        ],
+        "max": [
+            0.46350035071372986,
+            0.2900387644767761,
+            1.1672954559326172,
+            -0.19668616354465485,
+            1.5170879364013672,
+            -1.1027437448501587,
+            0.4797249734401703,
+            -0.04586905986070633,
+            1.3020927906036377,
+            1.5130605697631836,
+            2.2215805053710938,
+            1.852950930595398
+        ],
+        "mean": [
+            0.40001369822083377,
+            0.16915523339465707,
+            1.0780620256981952,
+            -0.5739748533889306,
+            1.2144247364466496,
+            -1.3304425157771822,
+            0.37519691885976003,
+            -0.201452266238377,
+            1.1215065624761675,
+            0.3789371939636549,
+            1.5763835537428057,
+            0.8413409513456096
+        ],
+        "std": [
+            0.022286672425640818,
+            0.022956443377548232,
+            0.02255027895485903,
+            0.21985392810648438,
+            0.07395573942514183,
+            0.09945665019166043,
+            0.0582409322608179,
+            0.06727133322505241,
+            0.07969849076495339,
+            0.4406833933597636,
+            0.284176313957749,
+            0.3978424423340936
+        ],
+        "count": [
+            89918
+        ],
+        "q01": [
+            0.3509504843821109,
+            0.1441144574368242,
+            1.035152310893322,
+            -1.2030056468187265,
+            1.0581299335873409,
+            -1.5656274644054846,
+            0.26694084662654255,
+            -0.30415768763778733,
+            0.9936296489589477,
+            -0.3032977320249624,
+            1.057633671081885,
+            0.1472034407249082
+        ],
+        "q10": [
+            0.3655089583586909,
+            0.15290308577817793,
+            1.0550983334014692,
+            -0.8462069991045447,
+            1.1648792757700157,
+            -1.4622343639318396,
+            0.2825994793276957,
+            -0.2745980310027311,
+            1.0148624213195632,
+            -0.20952050383148044,
+            1.2265668524508595,
+            0.2837332678178116
+        ],
+        "q50": [
+            0.407973234693776,
+            0.16394007519071976,
+            1.0757382746046575,
+            -0.49598883274351163,
+            1.2127237110633617,
+            -1.2992764651170745,
+            0.3927478570639753,
+            -0.2247014331632033,
+            1.1315500253302784,
+            0.41879967223599235,
+            1.5185687963865708,
+            0.9283098122112984
+        ],
+        "q90": [
+            0.4128047618984711,
+            0.18977282486480462,
+            1.0988545469181852,
+            -0.41937835723626143,
+            1.2642894207682203,
+            -1.272850778301804,
+            0.43845481601861114,
+            -0.10388258732853552,
+            1.2227837449197663,
+            0.9254186506385474,
+            2.0005886530631685,
+            1.3455574900065228
+        ],
+        "q99": [
+            0.42864521606947553,
+            0.24267995135880074,
+            1.137118360251251,
+            -0.3807545943676907,
+            1.3777523546515573,
+            -1.2299814246139271,
+            0.4447127351196958,
+            -0.0846940318466617,
+            1.2520051806546617,
+            1.1680353425542103,
+            2.089020346765703,
+            1.527425807956393
+        ]
+    },
+    "observation.images.head_right": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.3317021100314736
+                ]
+            ],
+            [
+                [
+                    0.3309956552803119
+                ]
+            ],
+            [
+                [
+                    0.33101262649086005
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.011555934886327645
+                ]
+            ],
+            [
+                [
+                    0.011536879795970826
+                ]
+            ],
+            [
+                [
+                    0.011517180398322878
+                ]
+            ]
+        ],
+        "count": [
+            2301900800
+        ],
+        "q01": [
+            [
+                [
+                    0.06979479003351022
+                ]
+            ],
+            [
+                [
+                    0.06793423825377604
+                ]
+            ],
+            [
+                [
+                    0.06678471615581572
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.10448175698469579
+                ]
+            ],
+            [
+                [
+                    0.10406377879134227
+                ]
+            ],
+            [
+                [
+                    0.10412409145114743
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.35053877770078545
+                ]
+            ],
+            [
+                [
+                    0.34954828419464784
+                ]
+            ],
+            [
+                [
+                    0.3496723494812136
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.6184154604653438
+                ]
+            ],
+            [
+                [
+                    0.6170275088898841
+                ]
+            ],
+            [
+                [
+                    0.6166376792942305
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.8169931786066381
+                ]
+            ],
+            [
+                [
+                    0.8170633330562623
+                ]
+            ],
+            [
+                [
+                    0.8170632069313188
+                ]
+            ]
+        ]
+    },
+    "action": {
+        "min": [
+            0.670925498008728,
+            -0.9828556776046753,
+            -6.112778699983169e-17,
+            0.9975773096084595,
+            -0.9304406642913818,
+            -0.7699999809265137,
+            0.2472546398639679,
+            0.0,
+            -0.31733137369155884,
+            -0.26430392265319824,
+            -0.3490658402442932,
+            0.0,
+            0.0,
+            -0.05914313346147537,
+            0.0,
+            0.0,
+            0.0,
+            -0.05252797156572342,
+            0.0,
+            0.0,
+            0.0,
+            -0.0961509421467781,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            -0.06805974990129471,
+            0.0,
+            0.0,
+            0.0,
+            -1.2293510437011719,
+            0.0,
+            1.0848286151885986,
+            -2.045403003692627,
+            -0.7699999809265137,
+            -0.6123955845832825,
+            0.0,
+            -0.3490658402442932,
+            -0.20340797305107117,
+            -0.3403412699699402,
+            0.0,
+            0.0,
+            -0.1249128058552742,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            -0.010726995766162872,
+            0.0,
+            0.0,
+            0.5624915957450867,
+            -1.1069231033325195,
+            0.4075208306312561,
+            -0.046039216220378876,
+            -0.06855565309524536,
+            -0.2597264051437378,
+            -0.8726646304130554
+        ],
+        "max": [
+            1.232399821281433,
+            -0.4151638448238373,
+            0.4785422086715698,
+            1.7598576545715332,
+            0.07593321055173874,
+            -0.22395694255828857,
+            0.7521414756774902,
+            1.3351384401321411,
+            0.0,
+            0.8048616647720337,
+            0.0,
+            1.1121935844421387,
+            1.368996262550354,
+            0.266650915145874,
+            0.48040279746055603,
+            0.09802136570215225,
+            1.4079948663711548,
+            0.25072091817855835,
+            0.12751547992229462,
+            0.29360371828079224,
+            1.2818092107772827,
+            0.19070357084274292,
+            0.9651622772216797,
+            0.383351594209671,
+            0.09325645118951797,
+            0.9325645565986633,
+            0.2581028938293457,
+            0.46387577056884766,
+            0.3977228105068207,
+            1.4205838441848755,
+            -0.22159649431705475,
+            1.1219515800476074,
+            2.018409252166748,
+            5.255803765549017e-19,
+            0.33025768399238586,
+            0.5199999809265137,
+            1.3493280410766602,
+            0.0,
+            0.7413324117660522,
+            0.3490658402442932,
+            0.675239086151123,
+            1.5707963705062866,
+            0.16606420278549194,
+            0.11826496571302414,
+            0.5620119571685791,
+            1.5707963705062866,
+            0.27200454473495483,
+            1.7453292608261108,
+            1.352108359336853,
+            1.5707963705062866,
+            0.33537715673446655,
+            1.7453292608261108,
+            1.0055243968963623,
+            0.1618157923221588,
+            1.5707963705062866,
+            0.2504878044128418,
+            1.7453292608261108,
+            1.3962633609771729,
+            0.5629709362983704,
+            -1.106479525566101,
+            0.5852497816085815,
+            0.019773665815591812,
+            0.04902786761522293,
+            0.16480129957199097,
+            -0.4564356207847595
+        ],
+        "mean": [
+            0.9702692231068384,
+            -0.5877019354153044,
+            0.17855068145248526,
+            1.2266239690243443,
+            -0.6382341010345174,
+            -0.4970437688914378,
+            0.4904916104452209,
+            1.19893545243512,
+            -0.17158035529566246,
+            0.4358884319664705,
+            -0.3402266768297109,
+            0.7833572845427007,
+            1.1682662738886467,
+            0.1890614493234959,
+            0.1380931393426114,
+            0.0878129067024247,
+            1.2401330982289935,
+            0.17040693831558726,
+            0.002103495255175515,
+            0.12098846157400042,
+            1.046633740168942,
+            0.08004466602899223,
+            0.081902097838817,
+            0.30234397249827644,
+            0.07221644090290066,
+            0.7221644411225657,
+            0.09516121653681518,
+            0.10316437359864854,
+            0.08815154332551522,
+            0.8863984924140791,
+            -0.7243927660055539,
+            0.41518626086377897,
+            1.4508140686979054,
+            -1.1932691031284623,
+            -0.2335569228509719,
+            -0.13077182999820502,
+            1.24299607214553,
+            -0.24506332468935071,
+            0.2427044295250313,
+            -0.09741169400223161,
+            0.5744214940325385,
+            1.2443284907969732,
+            0.07181809125236747,
+            0.10111330782569516,
+            0.4384124665874378,
+            1.4893170599305425,
+            0.16385475659390838,
+            1.4119403806415542,
+            1.075637159682765,
+            1.4070427896843416,
+            0.15425620735551374,
+            1.5434668172617267,
+            0.8455648924815262,
+            0.12527799332173567,
+            1.5129055981918804,
+            0.12065547001913626,
+            1.4572565137084503,
+            1.1741426539656012,
+            0.5626649491573616,
+            -1.1068001850747098,
+            0.491893949796873,
+            -0.014483615401314966,
+            -0.0007544889425751539,
+            -0.020679080838090995,
+            -0.6978929703473308
+        ],
+        "std": [
+            0.06687937122142595,
+            0.08741721577232135,
+            0.0713183236592236,
+            0.13336943392603792,
+            0.19653180361353326,
+            0.08320670603809913,
+            0.06650164684729672,
+            0.17207559556306226,
+            0.03772091738842831,
+            0.2017971932383653,
+            0.0491610069872419,
+            0.12910576513709393,
+            0.1861899096146656,
+            0.04408329391627344,
+            0.08476383888915917,
+            0.012950613070814285,
+            0.21322367146490928,
+            0.037440196057024415,
+            0.007099898917686795,
+            0.06595292786185819,
+            0.20120569684269352,
+            0.03161567728059136,
+            0.16878594264349492,
+            0.07293034418271446,
+            0.012467315490480892,
+            0.12467311301083835,
+            0.04595412422070785,
+            0.08260143031677304,
+            0.07112043042146621,
+            0.24716594682109533,
+            0.18073405295943146,
+            0.20381234575444135,
+            0.19091053220088594,
+            0.4286114148298631,
+            0.1992738241668056,
+            0.1828954179383468,
+            0.17260465610625186,
+            0.06660619431782526,
+            0.2196625242169056,
+            0.17128785624406198,
+            0.08650241290811321,
+            0.23032552586004634,
+            0.030221107801172976,
+            0.015421974906950525,
+            0.08204651399299703,
+            0.22520223778210105,
+            0.028829180183189338,
+            0.570137478492652,
+            0.2171790906259443,
+            0.3181221699983566,
+            0.033073944300961715,
+            0.47846167153460456,
+            0.15485788433796185,
+            0.03044603819741459,
+            0.209612181001587,
+            0.03226058206656589,
+            0.6011003625733956,
+            0.47996189423686664,
+            0.0019072055562149354,
+            0.003149475126051931,
+            0.034615385555599794,
+            0.009854206239659052,
+            0.022490012042206388,
+            0.05698673129942915,
+            0.08400067570420999
+        ],
+        "count": [
+            89918
+        ],
+        "q01": [
+            0.8453012384181535,
+            -0.8053733445420392,
+            0.023112613580556243,
+            1.1243069591787531,
+            -0.7716313188121858,
+            -0.727432453237651,
+            0.3753602474772492,
+            -1.000000013351432e-10,
+            -0.21180167741647676,
+            -0.17593917623020738,
+            -0.3490658402442932,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -0.0007967165662910669,
+            -9.847527269157144e-11,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -0.0008687686221540349,
+            -7.232578720922058e-11,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -0.004177324002896589,
+            -7.184089903373024e-11,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -0.0034604800267855544,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            0.3258585989029884,
+            -1.0466931154147772,
+            0.04560633740943536,
+            1.1879865219213623,
+            -1.7725082703536024,
+            -0.707070119751944,
+            -0.4315547342511214,
+            -1.000000013351432e-10,
+            -0.3436475998617054,
+            -0.11279171776102331,
+            -0.3039698217149739,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            -0.004042945378425226,
+            -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,
+            -3.1287291400209585e-08,
+            -1.000000013351432e-10,
+            -1.000000013351432e-10,
+            0.5626385572363913,
+            -1.106912823528913,
+            0.4826604559540676,
+            -0.022330190092312505,
+            -0.015089035027842507,
+            -0.1130091222449919,
+            -0.8244000721407778
+        ],
+        "q10": [
+            0.898571895058667,
+            -0.7148230466360264,
+            0.1440387947479524,
+            1.1369871219183303,
+            -0.7574194368660793,
+            -0.5269081403363,
+            0.45303422454056685,
+            1.2001853441023094,
+            -0.18186615750153048,
+            0.11358669693382167,
+            -0.3490658402442932,
+            0.7810640198137225,
+            1.070866704270425,
+            0.15500509808871468,
+            0.025912436940305143,
+            0.08641875076192872,
+            1.0324111454512146,
+            0.1512555453392234,
+            -7.232479104650512e-11,
+            0.05684230865407024,
+            0.8814292485776395,
+            0.06045602531951029,
+            0.057115789469947845,
+            0.26647343029920134,
+            0.06693230208402072,
+            0.6693230260973289,
+            0.06892439053655343,
+            0.058390090617985946,
+            0.049904621061970064,
+            0.48953070720958525,
+            -0.9710664288208469,
+            0.17832783272564595,
+            1.2307749635157885,
+            -1.6755566747087136,
+            -0.44752052171942247,
+            -0.3704524210491072,
+            1.183423447895289,
+            -0.3303234639700839,
+            -0.05704472427871164,
+            -0.2516984148801452,
+            0.5523082287107682,
+            1.04402352707738,
+            0.03649541949401042,
+            0.09589943658961983,
+            0.37684070564211747,
+            1.2868213773647097,
+            0.14691607049669128,
+            0.19229840210993593,
+            0.7786552921108165,
+            0.913577147318862,
+            0.12971607900585871,
+            0.5471583496196745,
+            0.6591647227142053,
+            0.07210502204889706,
+            1.345055029277209,
+            0.08215237290458889,
+            0.11590961189052112,
+            0.0995851632227687,
+            0.5626638735237403,
+            -1.106801357808661,
+            0.4852007674835275,
+            -0.020420738972293555,
+            -0.007955312275800508,
+            -0.08532102378603501,
+            -0.8093668355394331
+        ],
+        "q50": [
+            0.978776629925353,
+            -0.5571724032804914,
+            0.1726022540154848,
+            1.1745577598046297,
+            -0.7182356834721336,
+            -0.50149583464612,
+            0.4954264827315005,
+            1.2304368596321498,
+            -0.17398434095453535,
+            0.501190497852893,
+            -0.3481102583429728,
+            0.7867326679562779,
+            1.2132917123840712,
+            0.20060743942538808,
+            0.15082459265054315,
+            0.09014762912694638,
+            1.3049278704410154,
+            0.1771830258785315,
+            0.001152196479851659,
+            0.13391214483752617,
+            1.1016936391292826,
+            0.08301675191714769,
+            0.07571429686271001,
+            0.31774510665591416,
+            0.07495844560513829,
+            0.7495844660299188,
+            0.09626704039058924,
+            0.11474525723142913,
+            0.09817953828637915,
+            0.9626410094711823,
+            -0.7066217053838022,
+            0.38140532654284326,
+            1.4056835338988707,
+            -1.2430118051905106,
+            -0.2753344874064761,
+            -0.12475186423625154,
+            1.2844336854772296,
+            -0.2504932870983084,
+            0.30375798123747866,
+            -0.15569367976878637,
+            0.586389523229785,
+            1.2745467733123264,
+            0.07246731170852239,
+            0.1026878508409599,
+            0.4498772643331541,
+            1.5695327015326554,
+            0.16884057928892363,
+            1.6743525922584346,
+            1.1423302385183267,
+            1.5615609971328437,
+            0.15470421421750474,
+            1.7451192202539232,
+            0.8960970534063324,
+            0.13656115328694732,
+            1.570611673898053,
+            0.12441367403360033,
+            1.742753550046775,
+            1.3960819207711452,
+            0.5626638899229898,
+            -1.106801349153284,
+            0.49046862798980095,
+            -0.015643006525115643,
+            -0.0009499036445430894,
+            -0.013668959784635967,
+            -0.6702971652323841
+        ],
+        "q90": [
+            1.0084386041402962,
+            -0.522499314073904,
+            0.23010964317993815,
+            1.4191616899991615,
+            -0.3967576483931007,
+            -0.44050193863932624,
+            0.5184432500520098,
+            1.2417060849402215,
+            -0.16783358147317534,
+            0.5299263226144467,
+            -0.3465023351240736,
+            0.8382922802953376,
+            1.221144793303903,
+            0.20891782503618664,
+            0.16790794229849804,
+            0.09068575003880061,
+            1.3120785878937247,
+            0.18658601975745398,
+            0.0037860480582352354,
+            0.13547810869671412,
+            1.1083793405276487,
+            0.09489632858199888,
+            0.11294588939584178,
+            0.31948723071740437,
+            0.07611046464240644,
+            0.761104653877332,
+            0.11734563033567022,
+            0.12232079561388198,
+            0.10447741930340478,
+            1.1461126503922316,
+            -0.4906757175055515,
+            0.7139835061919909,
+            1.706119445490277,
+            -0.6336062310738194,
+            0.03759040135636336,
+            0.08428036806252151,
+            1.3104889476873047,
+            -0.17808956040594648,
+            0.5011294749514812,
+            0.18954593648431506,
+            0.6173313620010341,
+            1.491687724602157,
+            0.11036612424977486,
+            0.1104977813767568,
+            0.49819355329281817,
+            1.5707544574414392,
+            0.1823828248339175,
+            1.7185197803836831,
+            1.200880175258407,
+            1.5707446968722225,
+            0.18683059723918624,
+            1.7452872527116734,
+            0.9306263593251733,
+            0.14693962428157603,
+            1.5707594311846398,
+            0.15354843094598922,
+            1.745279141537407,
+            1.3962270729359676,
+            0.56266390632224,
+            -1.1068013404979062,
+            0.4985213253665905,
+            -0.006927338328424717,
+            0.00588604564827922,
+            0.0341474422746668,
+            -0.6075306209517586
+        ],
+        "q99": [
+            1.0659368422522137,
+            -0.5124339932255703,
+            0.31758238583063286,
+            1.573099882616869,
+            -0.023754211861586452,
+            -0.36958379074138026,
+            0.5577954013663943,
+            1.2534586768982574,
+            -2.2027682395555977e-05,
+            0.553692366093333,
+            -3.5236701033203275e-05,
+            0.9642601253514017,
+            1.2254271302013287,
+            0.21552293698949304,
+            0.2217906304131103,
+            0.09116181038497796,
+            1.3182791564288878,
+            0.19795970105273175,
+            0.020966443184402057,
+            0.1387305785449555,
+            1.1137011938482761,
+            0.13036941549222011,
+            0.21458329704010468,
+            0.3208677438399519,
+            0.07816479521220877,
+            0.7816479558821194,
+            0.18927488498362674,
+            0.13534356741676265,
+            0.11601340894662598,
+            1.1923917334084353,
+            -0.3757699240702154,
+            0.8278989046152727,
+            1.8600959802048016,
+            -0.09433619615003337,
+            0.1122065672541401,
+            0.43472504484238556,
+            1.3259250448768283,
+            -3.486689936811744e-05,
+            0.5584812590533578,
+            0.34105602489420955,
+            0.6349822168015904,
+            1.5465708853698852,
+            0.1266382984744314,
+            0.1130427474147448,
+            0.5046942796943569,
+            1.5707921791998014,
+            0.20201084320601495,
+            1.737036524895978,
+            1.2051279756954143,
+            1.5707912031428801,
+            0.22452816121748015,
+            1.745325060014667,
+            0.9461108510149794,
+            0.15170518726293966,
+            1.570792676574122,
+            0.18088196950844104,
+            1.745324248897241,
+            1.3962597321730523,
+            0.5627056999730202,
+            -1.1068013385504463,
+            0.5436699631001456,
+            0.001588000690383924,
+            0.014391962865586696,
+            0.05777966352569482,
+            -0.5693159575580619
+        ]
+    },
+    "subtask_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            21
+        ],
+        "mean": [
+            9.733757423430237
+        ],
+        "std": [
+            6.897467576785529
+        ],
+        "count": [
+            89918
+        ],
+        "q01": [
+            -1e-10
+        ],
+        "q10": [
+            0.21280680217232234
+        ],
+        "q50": [
+            10.038744393810086
+        ],
+        "q90": [
+            19.38860730548348
+        ],
+        "q99": [
+            20.999071601573274
+        ]
+    },
+    "observation.state.tcp": {
+        "min": [
+            0.31450530886650085,
+            0.11936817318201065,
+            1.0113338232040405,
+            -1.3516666889190674,
+            0.8686339259147644,
+            -1.8271586894989014,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.2359437495470047,
+            -0.3627358078956604,
+            0.9732376933097839,
+            -0.6861009001731873,
+            0.6488393545150757,
+            -0.07656750082969666,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "max": [
+            0.4629773199558258,
+            0.28912243247032166,
+            1.1674365997314453,
+            -0.19653278589248657,
+            1.5173959732055664,
+            -1.0995409488677979,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.47982487082481384,
+            -0.04544343799352646,
+            1.3020933866500854,
+            1.5122404098510742,
+            2.2207791805267334,
+            1.851000189781189,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "mean": [
+            0.3999959352399115,
+            0.16913902311579201,
+            1.078068998033682,
+            -0.5740347633926666,
+            1.2144946805358388,
+            -1.3303820840399065,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.375200683370217,
+            -0.20128666977621715,
+            1.1213651282069461,
+            0.37850310939728443,
+            1.5765863413867367,
+            0.8415595297373635,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "std": [
+            0.022221221619337466,
+            0.02292770650659626,
+            0.02248070647484082,
+            0.21996056644561787,
+            0.07382367404659933,
+            0.09939526926534695,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.05811503436554415,
+            0.06697299447330948,
+            0.0795397124534836,
+            0.44041035712643306,
+            0.2843304248809607,
+            0.3976549363593854,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "count": [
+            89918
+        ],
+        "q01": [
+            0.35112167384018783,
+            0.14407813393175298,
+            1.0352973016084699,
+            -1.204688498937381,
+            1.059678790368845,
+            -1.5651742560179234,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            0.26701238984171943,
+            -0.3028195649503103,
+            0.9936097694351248,
+            -0.3032970196951917,
+            1.057916693256681,
+            0.14742569234176264,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            3.999578446212127e-16
+        ],
+        "q10": [
+            0.3655862953103831,
+            0.15289442341992626,
+            1.0551329867282506,
+            -0.8465601693486319,
+            1.165135148611778,
+            -1.461969441658809,
+            3.9995784462121255e-15,
+            3.9995784462121255e-15,
+            3.9995784462121255e-15,
+            3.9995784462121255e-15,
+            3.9995784462121255e-15,
+            3.9995784462121255e-15,
+            0.28282770640480154,
+            -0.2742526513897286,
+            1.0149202775846178,
+            -0.20832342087225927,
+            1.2266961825455671,
+            0.283812203345246,
+            3.9995784462121255e-15,
+            3.9995784462121255e-15,
+            3.9995784462121255e-15,
+            3.9995784462121255e-15,
+            3.9995784462121255e-15,
+            3.9995784462121255e-15
+        ],
+        "q50": [
+            0.4079580009317816,
+            0.16393884560222063,
+            1.0757576098474262,
+            -0.4958709132050102,
+            1.2127492077108786,
+            -1.2992756286588028,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            0.3927035590650833,
+            -0.22437925816659562,
+            1.1319832785269914,
+            0.4148933871293883,
+            1.517955839801231,
+            0.9282917137346753,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14
+        ],
+        "q90": [
+            0.4127600506724216,
+            0.18987421682971528,
+            1.0987158521775218,
+            -0.41937592492807285,
+            1.2645327893040463,
+            -1.2727703744400594,
+            3.5996206015909115e-14,
+            3.5996206015909115e-14,
+            3.5996206015909115e-14,
+            3.5996206015909115e-14,
+            3.5996206015909115e-14,
+            3.5996206015909115e-14,
+            0.4383565887867813,
+            -0.10401711359184142,
+            1.2223359407431247,
+            0.9251201378811824,
+            2.000912683931199,
+            1.3467182308063654,
+            3.5996206015909115e-14,
+            3.5996206015909115e-14,
+            3.5996206015909115e-14,
+            3.5996206015909115e-14,
+            3.5996206015909115e-14,
+            3.5996206015909115e-14
+        ],
+        "q99": [
+            0.42722124273610923,
+            0.24212809667380839,
+            1.136909721535031,
+            -0.38066213708502655,
+            1.3776742276893439,
+            -1.2282121352142459,
+            3.959582661750004e-14,
+            3.959582661750004e-14,
+            3.959582661750004e-14,
+            3.959582661750004e-14,
+            3.959582661750004e-14,
+            3.959582661750004e-14,
+            0.4446293313406282,
+            -0.08470687735278777,
+            1.2513032236975488,
+            1.1673855180414516,
+            2.0889845489541226,
+            1.5215871545426356,
+            3.959582661750004e-14,
+            3.959582661750004e-14,
+            3.959582661750004e-14,
+            3.959582661750004e-14,
+            3.959582661750004e-14,
+            3.959582661750004e-14
+        ]
+    },
+    "observation.state": {
+        "min": [
+            0.671829104423523,
+            -0.9824997782707214,
+            -9.347694685857277e-06,
+            0.9970911145210266,
+            -0.9303843975067139,
+            -0.7700170278549194,
+            0.24724377691745758,
+            0.006079239305108786,
+            -0.313286691904068,
+            -0.261037141084671,
+            -0.3336261808872223,
+            0.0022131814621388912,
+            0.003089487086981535,
+            -0.05886880308389664,
+            0.0031921295449137688,
+            0.0008074730867519975,
+            0.003196689300239086,
+            -0.05127384886145592,
+            0.0034307504538446665,
+            0.0007662347052246332,
+            0.0031844235491007566,
+            -0.07905935496091843,
+            0.0029988926835358143,
+            0.0008398429490625858,
+            0.004799442365765572,
+            0.003205765737220645,
+            -0.05167469382286072,
+            0.0028233840130269527,
+            0.0007644611177965999,
+            0.0001814944262150675,
+            -1.229078769683838,
+            3.5952675148109847e-07,
+            1.0848363637924194,
+            -2.0454301834106445,
+            -0.770005464553833,
+            -0.6123452186584473,
+            0.005048657767474651,
+            -0.3315180838108063,
+            -0.20026104152202606,
+            -0.3172590434551239,
+            0.003133981255814433,
+            0.0031037151347845793,
+            -0.1250300407409668,
+            0.0034708159510046244,
+            0.0008522588177584112,
+            0.003159401472657919,
+            -0.0018835212104022503,
+            0.003355582943186164,
+            0.0008487114100717008,
+            0.0028586462140083313,
+            -0.0036465951707214117,
+            0.0034325229935348034,
+            0.0008544759475626051,
+            0.004873296245932579,
+            0.0032428083941340446,
+            -0.008057345636188984,
+            0.0030804420821368694,
+            0.0008158980635926127,
+            0.5615328550338745,
+            -1.1072465181350708,
+            0.4085182547569275,
+            -0.04534830525517464,
+            -0.0679745227098465,
+            -0.25962623953819275,
+            -0.8729309439659119
+        ],
+        "max": [
+            1.2321244478225708,
+            -0.41528642177581787,
+            0.4786427617073059,
+            1.7597720623016357,
+            0.07600144296884537,
+            -0.22394490242004395,
+            0.6981503367424011,
+            1.3263612985610962,
+            0.00139193597715348,
+            0.7961471676826477,
+            -0.0022785284090787172,
+            1.105994701385498,
+            1.3575377464294434,
+            0.26763999462127686,
+            0.47619104385375977,
+            0.09644802659749985,
+            1.3994081020355225,
+            0.2488361895084381,
+            0.1190994381904602,
+            0.2825353145599365,
+            1.2790433168411255,
+            0.1917353719472885,
+            0.9587592482566833,
+            0.3785257041454315,
+            0.08473091572523117,
+            0.9238004684448242,
+            0.2522595226764679,
+            0.45907914638519287,
+            0.3923179507255554,
+            1.4204037189483643,
+            -0.22159443795681,
+            1.121748447418213,
+            2.0182669162750244,
+            1.1984225238848012e-06,
+            0.32995641231536865,
+            0.5199982523918152,
+            1.3477866649627686,
+            0.004090708214789629,
+            0.7337071299552917,
+            0.3150573968887329,
+            0.6696210503578186,
+            1.4681841135025024,
+            0.2016352415084839,
+            0.11601864546537399,
+            0.5587190389633179,
+            1.4670644998550415,
+            0.2685489058494568,
+            1.6534110307693481,
+            1.3080527782440186,
+            1.4682753086090088,
+            0.314626008272171,
+            1.6564854383468628,
+            1.0028443336486816,
+            0.1530405580997467,
+            1.4701193571090698,
+            0.24854110181331635,
+            1.6535340547561646,
+            1.3081517219543457,
+            0.5632585883140564,
+            -1.1062877178192139,
+            0.5851178169250488,
+            0.01955825462937355,
+            0.048703890293836594,
+            0.16471119225025177,
+            -0.45655104517936707
+        ],
+        "mean": [
+            0.9702279104134927,
+            -0.5876376698000629,
+            0.17855663249108916,
+            1.226538327652438,
+            -0.6382149570647259,
+            -0.49703644936211067,
+            0.4903896148760587,
+            1.2004499996988351,
+            -0.1728623696080057,
+            0.4303960883090281,
+            -0.30809442278193866,
+            0.7801906199317807,
+            1.163659838868719,
+            0.18751480107990573,
+            0.13555511071797835,
+            0.08480840426265415,
+            1.237873760014842,
+            0.16736018054929558,
+            0.005743632928432595,
+            0.1185051962202055,
+            1.0443987512887327,
+            0.07951836444973771,
+            0.08324406895274951,
+            0.30012647250001895,
+            0.056778264530005555,
+            0.7184766410930177,
+            0.09305088538779868,
+            0.09991162552111905,
+            0.08578501787858958,
+            0.8859452144083422,
+            -0.7239314859791443,
+            0.41550206043153143,
+            1.4506996824076945,
+            -1.1939940011377486,
+            -0.23325272107549433,
+            -0.13076208032866998,
+            1.2412345516129888,
+            -0.24399790254761528,
+            0.24098162559591507,
+            -0.0982305501030478,
+            0.5720812301862287,
+            1.2331318244536569,
+            0.0728404967357067,
+            0.09833051021730771,
+            0.43550529048533204,
+            1.406181006671117,
+            0.16343647706137154,
+            1.3586652650535953,
+            1.0737117317775569,
+            1.3339381375827517,
+            0.15386094396253266,
+            1.467591339616091,
+            0.8439413607014453,
+            0.10930294655870786,
+            1.421691420529883,
+            0.12082713341455224,
+            1.3880066266714057,
+            1.1038306594059353,
+            0.5626389095911246,
+            -1.1067916887884963,
+            0.4918418183517418,
+            -0.014445457704155805,
+            -0.0007588367361060427,
+            -0.020667121439774505,
+            -0.6978462186562384
+        ],
+        "std": [
+            0.06684305258920162,
+            0.08732290423314845,
+            0.0712554964289993,
+            0.1331889646504126,
+            0.19647496212422771,
+            0.0831328769486496,
+            0.06637756766255998,
+            0.1571356301374853,
+            0.03716364889384385,
+            0.19991293181938002,
+            0.03837648422293707,
+            0.11386026640666844,
+            0.17161705108741362,
+            0.04260787296647416,
+            0.08233661712487426,
+            0.01132597352563206,
+            0.20314622693318818,
+            0.03458221193724166,
+            0.005943891143621986,
+            0.06522832450736249,
+            0.19306200913215021,
+            0.030477777470610673,
+            0.16548629137296145,
+            0.07064716264996046,
+            0.009686426171222078,
+            0.11577347802720865,
+            0.04454797536485101,
+            0.08199027936623345,
+            0.07073209382438606,
+            0.24650933968509903,
+            0.18039249376945246,
+            0.2036478802017013,
+            0.19073585663713774,
+            0.4283680310877544,
+            0.19915257673025633,
+            0.18286458252308518,
+            0.15480478879538914,
+            0.05741616480209492,
+            0.2192148588059611,
+            0.16556925626003402,
+            0.07531133743453033,
+            0.2094593497968873,
+            0.03112087407229377,
+            0.013610707905740399,
+            0.07541374383640279,
+            0.18168467992286155,
+            0.02624133093126956,
+            0.5414700892389207,
+            0.20901385329466568,
+            0.2759098535538213,
+            0.031021248688460096,
+            0.44373856464018285,
+            0.14810030801308793,
+            0.027144426270258593,
+            0.1669972979544775,
+            0.03058857858568312,
+            0.5691436174867341,
+            0.4483781269724779,
+            0.001663555369775092,
+            0.0032318529719721364,
+            0.03453839833983479,
+            0.009819017079891402,
+            0.022438733870665722,
+            0.05692826838615411,
+            0.08392832710608891
+        ],
+        "count": [
+            89918
+        ],
+        "q01": [
+            0.8455297073467865,
+            -0.8048755229167855,
+            0.024037459188922534,
+            1.1243059501346024,
+            -0.7716074355105907,
+            -0.7256097347355034,
+            0.3735577979866283,
+            0.13049022252530773,
+            -0.21194813099086215,
+            -0.17266765163289866,
+            -0.31727865192125854,
+            0.08317980934448037,
+            0.10040533741819287,
+            0.00926000885525545,
+            0.0034345362961859817,
+            0.006154773510622157,
+            0.08133091774634603,
+            0.01530465007827744,
+            0.0037949870079777483,
+            0.0012247525595630328,
+            0.07264465233187128,
+            0.003257056806336201,
+            0.009459908679046296,
+            0.020552930475875655,
+            0.006728249235889371,
+            0.05875296294630618,
+            0.007790207497576001,
+            0.006175420440278712,
+            0.0010962040078613701,
+            0.3273820052173248,
+            -1.0437859139617545,
+            0.0466045639634859,
+            1.18803015382519,
+            -1.7724440968617532,
+            -0.7058029911107719,
+            -0.4315214577244168,
+            0.18086357422675603,
+            -0.31617234725630833,
+            -0.11019939023021127,
+            -0.2991021175590161,
+            0.0562397661605669,
+            0.11635062693681561,
+            -0.0011744353049727312,
+            0.010681960355068168,
+            0.04389283995903643,
+            0.24570040785797587,
+            0.016026382610539198,
+            0.01114028087070974,
+            0.07379185171620452,
+            0.08412212096159806,
+            0.015244895499161156,
+            0.06102028514972518,
+            0.057375392533585375,
+            0.012118949763636592,
+            0.3267755485111545,
+            0.009651852943909845,
+            0.008651308811472042,
+            0.004191197727462766,
+            0.5625156248751131,
+            -1.106923079432844,
+            0.48281372175476367,
+            -0.022206893261487722,
+            -0.01450427973973718,
+            -0.11294760758356223,
+            -0.8242668020151922
+        ],
+        "q10": [
+            0.8987188132367997,
+            -0.7146503187672504,
+            0.1440645710287377,
+            1.1369720243086379,
+            -0.7574094251427649,
+            -0.5269907985525755,
+            0.452924697016129,
+            1.1991184766189495,
+            -0.1820161920184246,
+            0.11144165508236226,
+            -0.3156862202052789,
+            0.7769808971637278,
+            1.0657883894791398,
+            0.15349858472375705,
+            0.02735300856895499,
+            0.0833887485141728,
+            1.0279153556742358,
+            0.148559821127481,
+            0.004234733329961444,
+            0.05507691639698248,
+            0.8783085105404538,
+            0.05945238762457268,
+            0.05937772768138266,
+            0.2640385406857628,
+            0.05204757628632023,
+            0.66125294775827,
+            0.06864331240704523,
+            0.05727934126745113,
+            0.04765599851458265,
+            0.4896679071244383,
+            -0.9702635212675361,
+            0.1788656829481553,
+            1.2308709351688691,
+            -1.675473750443674,
+            -0.4471663363999208,
+            -0.3704149515893076,
+            1.181216429914758,
+            -0.3118308178678474,
+            -0.05788045588292576,
+            -0.2503651683678809,
+            0.5484282143349911,
+            1.0377428865440386,
+            0.035746955966642,
+            0.08976282601263236,
+            0.36995196694471844,
+            1.2803580669810761,
+            0.1471686412305994,
+            0.1860896663520517,
+            0.7750061650970816,
+            0.9106268539843668,
+            0.13076393153315533,
+            0.5357875025823085,
+            0.6561529610581408,
+            0.05862730909352022,
+            1.3270542154565936,
+            0.08292215018766855,
+            0.1106157710786342,
+            0.09508233008151339,
+            0.562591389359416,
+            -1.1067963670303416,
+            0.485182467886898,
+            -0.020326350583556623,
+            -0.007876079711577201,
+            -0.08525930899535969,
+            -0.8093131407882137
+        ],
+        "q50": [
+            0.9787627093266213,
+            -0.5571696203969845,
+            0.17259555248801245,
+            1.1745118830404915,
+            -0.7182288336512429,
+            -0.5015052850275511,
+            0.4954128753987876,
+            1.2320158961111976,
+            -0.17539710097705422,
+            0.4949186950429658,
+            -0.31424619176093277,
+            0.7821584917526572,
+            1.2077604233489563,
+            0.19848696737166988,
+            0.14707295054464703,
+            0.08691964035150067,
+            1.3024030470926962,
+            0.1731829706707221,
+            0.005136652966477231,
+            0.13107184273039646,
+            1.0990396469993047,
+            0.08182860233249259,
+            0.07720144380110411,
+            0.31520276863658725,
+            0.05796685075301585,
+            0.7455524970882313,
+            0.09278058597291884,
+            0.11082570722735098,
+            0.09570728236967023,
+            0.96151701992613,
+            -0.7064186997640347,
+            0.3817070888849372,
+            1.405444994209357,
+            -1.2457922896978335,
+            -0.27512722970837333,
+            -0.1246175124224138,
+            1.2823396605218726,
+            -0.25233373358236355,
+            0.30191563120547993,
+            -0.1558347794588192,
+            0.5831277193852615,
+            1.271170126829107,
+            0.07281996342721497,
+            0.10179574342884,
+            0.44583158243496707,
+            1.4626834796325379,
+            0.166778845138412,
+            1.608751343300421,
+            1.1399148602791056,
+            1.4617149553632371,
+            0.1527285569702079,
+            1.6540127079390714,
+            0.893977706235721,
+            0.11758765858624665,
+            1.4627636682712986,
+            0.12512788480766707,
+            1.653133031879805,
+            1.3074223055806178,
+            0.562637771642139,
+            -1.106794773606446,
+            0.4904311533088095,
+            -0.015610752997963431,
+            -0.0009481418832600482,
+            -0.013710344196896696,
+            -0.6702504069873233
+        ],
+        "q90": [
+            1.0084042838388414,
+            -0.5225002842547422,
+            0.22993590432619898,
+            1.4188660775986204,
+            -0.3965962175331863,
+            -0.4405426873263017,
+            0.5183172219120187,
+            1.2399377722076947,
+            -0.16726892426644377,
+            0.5232525741938321,
+            -0.31175007777952357,
+            0.8281603200333978,
+            1.2151006119047043,
+            0.20744064138872173,
+            0.16500600418721542,
+            0.08760057623161784,
+            1.3083187421889104,
+            0.18279044191528307,
+            0.007170931173259459,
+            0.13285335897678044,
+            1.1049481547142412,
+            0.09460674113727789,
+            0.11248275989482506,
+            0.31659327528518344,
+            0.06223376513621115,
+            0.756714889085087,
+            0.11612380415732176,
+            0.11732616419330362,
+            0.10189871180981505,
+            1.1450387091314023,
+            -0.49078868061355024,
+            0.7141053713530613,
+            1.705918875960084,
+            -0.6337598253373351,
+            0.037629333625718624,
+            0.08470992368223981,
+            1.3081334640554854,
+            -0.18297582868407886,
+            0.4986430644534604,
+            0.18154891305192597,
+            0.6121825534073763,
+            1.4487306096729526,
+            0.11246837924660046,
+            0.10743283634014963,
+            0.4952332003730343,
+            1.4652646893747256,
+            0.18116466921236912,
+            1.6414235446376897,
+            1.197059116549712,
+            1.4656179116615913,
+            0.1854030728511565,
+            1.6541844830698988,
+            0.9284895374173224,
+            0.13160975326774688,
+            1.465505876627843,
+            0.1508413692612879,
+            1.6533798281955328,
+            1.3075927728571164,
+            0.5626956349575389,
+            -1.1067947175208992,
+            0.498498637159551,
+            -0.006903089889598955,
+            0.005798986775585032,
+            0.03405806232987986,
+            -0.6075549096875892
+        ],
+        "q99": [
+            1.0656914344543194,
+            -0.5124312049053557,
+            0.3170835296664507,
+            1.5722968511083975,
+            -0.02490595745358181,
+            -0.3698739411673565,
+            0.5568699123213945,
+            1.2494873579949977,
+            -0.016428573816565636,
+            0.5462425124681359,
+            -0.03155296135170529,
+            0.9592305138969608,
+            1.219177142639147,
+            0.21417601178527795,
+            0.21930747902138686,
+            0.08880628075601117,
+            1.3131062777621323,
+            0.19626687628389825,
+            0.021454408072817188,
+            0.13651806919687065,
+            1.1092206085053844,
+            0.1297079550250187,
+            0.2120813787207264,
+            0.3178127011150363,
+            0.06280086647327733,
+            0.774458715829777,
+            0.18755973117005323,
+            0.13014199489565,
+            0.1126319005181063,
+            1.191446712683138,
+            -0.37582279704199023,
+            0.8266672668700232,
+            1.8592620496973569,
+            -0.10075522429716276,
+            0.11229230677138949,
+            0.43139672137525903,
+            1.322839591782383,
+            -0.029258620883939605,
+            0.5554686300939087,
+            0.30719816651696036,
+            0.6265749715642903,
+            1.4614586947405066,
+            0.13022662148605096,
+            0.10851339925772059,
+            0.5016079993907182,
+            1.466162942058296,
+            0.20170211846910532,
+            1.651223106474466,
+            1.2007967033930276,
+            1.4667572053490217,
+            0.22462425719885615,
+            1.6542646604644364,
+            0.9435230629753153,
+            0.1383728084516091,
+            1.4666109386178556,
+            0.17937351094385676,
+            1.6534294355330204,
+            1.3080013065327425,
+            0.5628052846100973,
+            -1.106696965790526,
+            0.5392496292488458,
+            0.0007972643033921188,
+            0.01374778960904434,
+            0.05723857170056934,
+            -0.5699530004016488
+        ]
+    },
+    "observation.images.wrist_right": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.30921379313829606
+                ]
+            ],
+            [
+                [
+                    0.3080708618499198
+                ]
+            ],
+            [
+                [
+                    0.30614516402458086
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0006882253824573505
+                ]
+            ],
+            [
+                [
+                    0.0008128624718552011
+                ]
+            ],
+            [
+                [
+                    0.0010347896826807983
+                ]
+            ]
+        ],
+        "count": [
+            2301900800
+        ],
+        "q01": [
+            [
+                [
+                    0.023470761908017574
+                ]
+            ],
+            [
+                [
+                    0.02346634895691266
+                ]
+            ],
+            [
+                [
+                    0.02343316288354793
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.12521359152398176
+                ]
+            ],
+            [
+                [
+                    0.12451529454762128
+                ]
+            ],
+            [
+                [
+                    0.12426131090742293
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.2635500913834381
+                ]
+            ],
+            [
+                [
+                    0.26268826760395314
+                ]
+            ],
+            [
+                [
+                    0.2630193704927552
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.5815256872311234
+                ]
+            ],
+            [
+                [
+                    0.5820712167080033
+                ]
+            ],
+            [
+                [
+                    0.5740492969342703
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.7740124323542511
+                ]
+            ],
+            [
+                [
+                    0.7730973583299238
+                ]
+            ],
+            [
+                [
+                    0.7814390739552218
+                ]
+            ]
+        ]
+    },
+    "observation.images.tactile_deform": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    0.8509803921568627
+                ]
+            ],
+            [
+                [
+                    0.8509803921568627
+                ]
+            ],
+            [
+                [
+                    0.8509803921568627
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.008012995636159613
+                ]
+            ],
+            [
+                [
+                    0.008012995636159613
+                ]
+            ],
+            [
+                [
+                    0.008012995636159613
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0029293365401271486
+                ]
+            ],
+            [
+                [
+                    0.0029293365401271486
+                ]
+            ],
+            [
+                [
+                    0.0029293365401271486
+                ]
+            ]
+        ],
+        "count": [
+            809262000
+        ],
+        "q01": [
+            [
+                [
+                    -7.55796196011268e-11
+                ]
+            ],
+            [
+                [
+                    -7.55796196011268e-11
+                ]
+            ],
+            [
+                [
+                    -7.55796196011268e-11
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    -7.55796196011268e-11
+                ]
+            ],
+            [
+                [
+                    -7.55796196011268e-11
+                ]
+            ],
+            [
+                [
+                    -7.55796196011268e-11
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    -7.55796196011268e-11
+                ]
+            ],
+            [
+                [
+                    -7.55796196011268e-11
+                ]
+            ],
+            [
+                [
+                    -7.55796196011268e-11
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    -7.55796196011268e-11
+                ]
+            ],
+            [
+                [
+                    -7.55796196011268e-11
+                ]
+            ],
+            [
+                [
+                    -7.55796196011268e-11
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.3890735916247797
+                ]
+            ],
+            [
+                [
+                    0.3890735916247797
+                ]
+            ],
+            [
+                [
+                    0.3890735916247797
+                ]
+            ]
+        ]
+    },
+    "observation.state.tcp_pose": {
+        "min": [
+            0.31450530886650085,
+            0.11936817318201065,
+            1.0113338232040405,
+            -1.3516666889190674,
+            0.8686339259147644,
+            -1.8271586894989014,
+            0.2359437495470047,
+            -0.3627358078956604,
+            0.9732376933097839,
+            -0.6861009001731873,
+            0.6488393545150757,
+            -0.07656750082969666
+        ],
+        "max": [
+            0.4629773199558258,
+            0.28912243247032166,
+            1.1674365997314453,
+            -0.19653278589248657,
+            1.5173959732055664,
+            -1.0995409488677979,
+            0.47982487082481384,
+            -0.04544343799352646,
+            1.3020933866500854,
+            1.5122404098510742,
+            2.2207791805267334,
+            1.851000189781189
+        ],
+        "mean": [
+            0.3999959352399115,
+            0.16913902311579201,
+            1.078068998033682,
+            -0.5740347633926666,
+            1.2144946805358388,
+            -1.3303820840399065,
+            0.375200683370217,
+            -0.20128666977621715,
+            1.1213651282069461,
+            0.37850310939728443,
+            1.5765863413867367,
+            0.8415595297373635
+        ],
+        "std": [
+            0.022221221619337466,
+            0.02292770650659626,
+            0.02248070647484082,
+            0.21996056644561787,
+            0.07382367404659933,
+            0.09939526926534695,
+            0.05811503436554415,
+            0.06697299447330948,
+            0.0795397124534836,
+            0.44041035712643306,
+            0.2843304248809607,
+            0.3976549363593854
+        ],
+        "count": [
+            89918
+        ],
+        "q01": [
+            0.35112167384018783,
+            0.14407813393175298,
+            1.0352973016084699,
+            -1.204688498937381,
+            1.059678790368845,
+            -1.5651742560179234,
+            0.26701238984171943,
+            -0.3028195649503103,
+            0.9936097694351248,
+            -0.3032970196951917,
+            1.057916693256681,
+            0.14742569234176264
+        ],
+        "q10": [
+            0.3655862953103831,
+            0.15289442341992626,
+            1.0551329867282506,
+            -0.8465601693486319,
+            1.165135148611778,
+            -1.461969441658809,
+            0.28282770640480154,
+            -0.2742526513897286,
+            1.0149202775846178,
+            -0.20832342087225927,
+            1.2266961825455671,
+            0.283812203345246
+        ],
+        "q50": [
+            0.4079580009317816,
+            0.16393884560222063,
+            1.0757576098474262,
+            -0.4958709132050102,
+            1.2127492077108786,
+            -1.2992756286588028,
+            0.3927035590650833,
+            -0.22437925816659562,
+            1.1319832785269914,
+            0.4148933871293883,
+            1.517955839801231,
+            0.9282917137346753
+        ],
+        "q90": [
+            0.4127600506724216,
+            0.18987421682971528,
+            1.0987158521775218,
+            -0.41937592492807285,
+            1.2645327893040463,
+            -1.2727703744400594,
+            0.4383565887867813,
+            -0.10401711359184142,
+            1.2223359407431247,
+            0.9251201378811824,
+            2.000912683931199,
+            1.3467182308063654
+        ],
+        "q99": [
+            0.42722124273610923,
+            0.24212809667380839,
+            1.136909721535031,
+            -0.38066213708502655,
+            1.3776742276893439,
+            -1.2282121352142459,
+            0.4446293313406282,
+            -0.08470687735278777,
+            1.2513032236975488,
+            1.1673855180414516,
+            2.0889845489541226,
+            1.5215871545426356
+        ]
+    },
+    "task_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            0
+        ],
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "count": [
+            89918
+        ],
+        "q01": [
+            3.9999999999994176e-16
+        ],
+        "q10": [
+            3.999999999999419e-15
+        ],
+        "q50": [
+            1.9999999999997084e-14
+        ],
+        "q90": [
+            3.5999999999994754e-14
+        ],
+        "q99": [
+            3.959999999999423e-14
+        ]
+    },
+    "observation.tactile": {
+        "min": [
+            -11.046745300292969,
+            -0.01544189453125,
+            -0.00677490234375,
+            -0.33751964569091797,
+            -0.050635337829589844,
+            -0.18900442123413086,
+            -5.060466766357422,
+            -0.024627685546875,
+            -0.010498046875,
+            -0.4323892593383789,
+            -0.019870758056640625,
+            -0.09855484962463379,
+            -5.758752822875977,
+            -0.046478271484375,
+            -0.0201416015625,
+            -0.33977413177490234,
+            -0.023477554321289062,
+            -0.1030418872833252,
+            -0.2652091979980469,
+            -0.02410888671875,
+            -0.01507568359375,
+            -0.027197837829589844,
+            -0.008206367492675781,
+            -0.00448918342590332,
+            -0.038936614990234375,
+            -0.0164794921875,
+            -0.02716064453125,
+            -0.005822181701660156,
+            -0.004986763000488281,
+            -0.0005872249603271484,
+            -5.584831237792969,
+            -0.058197021484375,
+            -0.07098388671875,
+            -0.4896078109741211,
+            -0.06977415084838867,
+            -0.12090945243835449,
+            -9.49338150024414,
+            -0.015411376953125,
+            -0.07855224609375,
+            -0.3079824447631836,
+            -0.05004453659057617,
+            -0.16763758659362793,
+            -0.03954315185546875,
+            -0.00946044921875,
+            -0.0111083984375,
+            -0.0014486312866210938,
+            -0.0019254684448242188,
+            -0.0006911754608154297,
+            -0.12762832641601562,
+            -0.02301025390625,
+            -0.02386474609375,
+            -0.08089542388916016,
+            -0.0064144134521484375,
+            -0.004914999008178711,
+            -0.7927474975585938,
+            -0.0205078125,
+            -0.03485107421875,
+            -0.006768226623535156,
+            -0.0046710968017578125,
+            -0.013397932052612305
+        ],
+        "max": [
+            2.906482696533203,
+            15.138427734375,
+            13.73016357421875,
+            0.0021619796752929688,
+            0.033606529235839844,
+            0.05933189392089844,
+            7.532636642456055,
+            13.884063720703125,
+            28.8748779296875,
+            0.0038347244262695312,
+            0.046102046966552734,
+            0.1235511302947998,
+            8.760604858398438,
+            11.80364990234375,
+            20.556884765625,
+            0.015004158020019531,
+            0.04123401641845703,
+            0.1466233730316162,
+            2.101490020751953,
+            1.819061279296875,
+            3.0660400390625,
+            0.0019807815551757812,
+            0.011468887329101562,
+            0.027632951736450195,
+            0.9431266784667969,
+            0.20416259765625,
+            0.15924072265625,
+            0.0019712448120117188,
+            0.0022764205932617188,
+            0.009073972702026367,
+            11.83706283569336,
+            27.578857421875,
+            25.96966552734375,
+            0.007702827453613281,
+            0.08018636703491211,
+            0.22351360321044922,
+            2.44970703125,
+            18.430572509765625,
+            18.23052978515625,
+            0.013283729553222656,
+            0.03831052780151367,
+            0.0527956485748291,
+            0.07539939880371094,
+            0.057037353515625,
+            0.2037353515625,
+            0.0018491744995117188,
+            0.0009942054748535156,
+            0.0009067058563232422,
+            5.7649993896484375,
+            3.549407958984375,
+            4.6363525390625,
+            0.0022783279418945312,
+            0.015282630920410156,
+            0.09976434707641602,
+            2.751657485961914,
+            0.597442626953125,
+            1.12945556640625,
+            0.004393577575683594,
+            0.01045370101928711,
+            0.02814173698425293
+        ],
+        "mean": [
+            -3.9110389890684885,
+            4.113999808712804,
+            3.620263487915278,
+            -0.08207353504013191,
+            -0.009281885320733655,
+            -0.08037972314167538,
+            1.4163370629488625,
+            1.4640588712393567,
+            4.492274876635478,
+            -0.06552621067148977,
+            0.0009188386751848167,
+            0.022658721597311166,
+            0.4521875286326463,
+            0.46678899563769555,
+            1.201331128559916,
+            -0.019748794936861366,
+            -0.0010683954678072565,
+            0.007836831871537026,
+            0.0028746905461856202,
+            -0.00022427099599373203,
+            0.003258962298220456,
+            6.0463187715887654e-05,
+            -0.00012699627583029262,
+            -0.00013190419044825034,
+            0.00958844186305853,
+            0.0023278083776339708,
+            0.001353059088913838,
+            0.0004655522562229581,
+            -0.00043341130226450783,
+            -7.321935232412421e-05,
+            1.2906404248331864,
+            2.892222983917362,
+            3.098042646942223,
+            -0.07116741467112413,
+            -0.002611526051644432,
+            0.025552654080867647,
+            -1.044735848460854,
+            1.3571190730961287,
+            1.7934517949437085,
+            -0.03430455568061745,
+            -0.002105869924742897,
+            -0.020099967253415982,
+            0.006705969015665514,
+            0.00034782055982088636,
+            -5.6102067161851377e-05,
+            0.0005888284186442868,
+            -0.0005356333188266591,
+            -0.00027095090080680225,
+            0.017650950699120222,
+            0.0041182381641686775,
+            0.00334602105506852,
+            0.0004611458700353654,
+            -0.0005137292123855715,
+            -0.00012134743110536965,
+            -0.0018667788644318858,
+            0.00030546578935513685,
+            0.00041018648771853965,
+            0.00032023837906533086,
+            -0.00022002004252432764,
+            -0.00015154302434866764
+        ],
+        "std": [
+            2.9078814316733532,
+            3.3032360530019758,
+            3.113153722756343,
+            0.07399395326533267,
+            0.011637586430910988,
+            0.05512000034562546,
+            1.1965386628986647,
+            1.3856949397499567,
+            3.741669600248599,
+            0.054753152451977816,
+            0.005945740202174666,
+            0.019945428264575356,
+            0.9320543915572509,
+            0.8725301234994347,
+            1.9384323622126989,
+            0.03201950797533888,
+            0.004423599480266939,
+            0.016928641768172915,
+            0.06582047002479652,
+            0.025714510070938244,
+            0.050688449154904926,
+            0.0007056950197146806,
+            0.0004154603196600679,
+            0.0007140905327483554,
+            0.06286987610909239,
+            0.00524101757151879,
+            0.0070028914421726065,
+            0.0003863890168028068,
+            0.00034684437037410624,
+            0.0005554696587159125,
+            1.9846488542409246,
+            4.467845312603994,
+            4.44045393509526,
+            0.10232888894742713,
+            0.009268364860181899,
+            0.03927341380995337,
+            1.7464263111968727,
+            1.998283651562836,
+            2.5318361248207655,
+            0.050007762989914314,
+            0.0047938922748683305,
+            0.03375146031748494,
+            0.010495944685590371,
+            0.0021818592708765672,
+            0.0027183373331793347,
+            0.0003765619682717165,
+            0.00035494977235492813,
+            0.00012384759007750667,
+            0.08096633061028062,
+            0.0347972539968545,
+            0.06379017527067092,
+            0.0011133030061705896,
+            0.0004774031442177067,
+            0.0014769072842371188,
+            0.03159981164597157,
+            0.00456270313673319,
+            0.008327879243999659,
+            0.00029551042595150456,
+            0.00027538075014366624,
+            0.0004798539095660755
+        ],
+        "count": [
+            89918
+        ],
+        "q01": [
+            -7.175602643445978,
+            -0.0031701107128614156,
+            0.0028334217350676023,
+            -0.162155108329566,
+            -0.020184286227608594,
+            -0.1456716546807214,
+            -0.23630471304961786,
+            -0.0002183014564144621,
+            -0.0015361711641643473,
+            -0.15633849919330028,
+            -0.008359608368725326,
+            -0.005098694215493652,
+            -0.2229688475025373,
+            -0.004446201465111893,
+            -0.002903229939507551,
+            -0.09186674026694189,
+            -0.00901776153474826,
+            -0.0042129651816170685,
+            -0.017226599024085035,
+            -0.006200668936704148,
+            -0.003656624737285819,
+            -0.0011951618106644602,
+            -0.0006464933594498823,
+            -0.00043699359400286675,
+            -0.0005627085186276268,
+            -0.00141950448394386,
+            -0.0018817529612630867,
+            4.1758813954741196e-05,
+            -0.0008064230489140152,
+            -0.00024400836909109489,
+            -0.40489163285841395,
+            -0.01577113750042226,
+            0.001386111663842868,
+            -0.3337163102022297,
+            -0.03096813998194782,
+            -0.010373910379530444,
+            -6.0062466866194,
+            -0.006108321627415048,
+            0.0006829207157528646,
+            -0.16304570034014945,
+            -0.01704613189775135,
+            -0.11262862029198119,
+            -0.01240455109399801,
+            -0.003705830794169803,
+            -0.004104878740082508,
+            -8.805398676412985e-07,
+            -0.0011034019358549913,
+            -0.00047852665248744597,
+            -0.0026373277609676917,
+            -0.0044135508675083625,
+            -0.009036430298535753,
+            -0.0017189871246115227,
+            -0.0010755994123404964,
+            -0.000496667049214266,
+            -0.028746147105466188,
+            -0.0031010795333538312,
+            -0.004449283375707036,
+            -5.9347037086267474e-05,
+            -0.0007566352594261612,
+            -0.000582235788304528
+        ],
+        "q10": [
+            -5.455851720499582,
+            0.15694594529212713,
+            0.11723478151099057,
+            -0.11493404995508356,
+            -0.014983056670125375,
+            -0.11294955225771298,
+            0.0905559585987831,
+            0.042058423727566734,
+            0.16113356313881957,
+            -0.09219115550175858,
+            -0.0034374086935084047,
+            0.001088841204364816,
+            -0.008603344499419152,
+            0.007189608014945668,
+            0.03344565292569493,
+            -0.030475341255665853,
+            -0.003398967658996179,
+            -0.00020239554835294526,
+            -0.00887182097091936,
+            -0.0040660484522476595,
+            -0.002033969758588061,
+            -0.00010354257803597113,
+            -0.0002973091767952072,
+            -0.0002813050590965803,
+            0.0007641805170918625,
+            0.00016188407913678523,
+            -0.0007156079419250782,
+            0.0002360719112209187,
+            -0.000647963910928558,
+            -0.0001920435137623223,
+            -0.035793042362616864,
+            -0.004014248884736512,
+            0.011114423902375934,
+            -0.23724273413389235,
+            -0.01354714301437764,
+            -0.0012695083458828034,
+            -3.8032857567219485,
+            0.0003307227621262729,
+            0.006436651089268855,
+            -0.11193734055470031,
+            -0.007822736753616388,
+            -0.07476919751201389,
+            -0.0031481403716965375,
+            -0.0017380225241369325,
+            -0.002428986132474733,
+            0.00019910366030112005,
+            -0.0009335187262993627,
+            -0.00040751122812748353,
+            0.003026505908187412,
+            -0.001482092045705034,
+            -0.005566373005456549,
+            0.00014671886354623392,
+            -0.0008719806008609065,
+            -0.0003918371550403981,
+            -0.00990862553787513,
+            -0.0014499318225166236,
+            -0.0021022557964719044,
+            7.857474024208637e-05,
+            -0.0004805506565953761,
+            -0.00025763247150197845
+        ],
+        "q50": [
+            -4.43637446610874,
+            4.739855626969086,
+            4.149733970551177,
+            -0.09390807906695223,
+            -0.010345144156950826,
+            -0.09122436128664294,
+            1.568068878945891,
+            1.5563016480755762,
+            4.978919822850663,
+            -0.07270006169816938,
+            0.0010087907303302022,
+            0.024924269289501255,
+            0.42844788839547066,
+            0.4223290898802529,
+            1.2202434829273379,
+            -0.020675745549754675,
+            -0.000955100205521955,
+            0.007494622157093106,
+            -0.002445185873179191,
+            -0.0017343221486074848,
+            3.382433161662494e-05,
+            9.616743505022003e-05,
+            -0.00013039272640896153,
+            -0.0001841888958833967,
+            0.009217504693359057,
+            0.002053538537920923,
+            0.0009990149326588422,
+            0.0004803423476961035,
+            -0.00041928496662169444,
+            -7.251838575091016e-05,
+            0.2466689588024099,
+            0.42325217545549537,
+            0.4664696110956383,
+            -0.010169325337281394,
+            -0.0008318069507355495,
+            0.004549798606018408,
+            -0.14968320121360668,
+            0.214511235464602,
+            0.3353376983291736,
+            -0.006121156501846473,
+            -0.001176830313466193,
+            -0.002342330584536362,
+            0.006929104021374365,
+            0.00044457640372104197,
+            -9.65291869420823e-05,
+            0.00055528384338742,
+            -0.0005033161635549108,
+            -0.00026632589492214755,
+            0.009661105239938392,
+            0.0013459236689029703,
+            -0.0015399435990371521,
+            0.0005350283068189164,
+            -0.0005522360018879596,
+            -0.0002613438963008173,
+            0.00013879050861573467,
+            0.0002649609766674606,
+            0.00033421678459694403,
+            0.00029557334427467955,
+            -0.0001845264341264229,
+            -0.00012874075866286538
+        ],
+        "q90": [
+            -0.21469240758652938,
+            5.731287084634553,
+            5.00121260175505,
+            -0.0014758293619807831,
+            -0.00015417584258969172,
+            -0.0032620005971216934,
+            2.1071305773179696,
+            2.164477616464455,
+            6.353906464497199,
+            -0.001171802212264036,
+            0.004739074809148314,
+            0.03436294536511922,
+            0.8293344067673147,
+            0.7375844074572169,
+            1.8905644859994515,
+            0.0001415315458751169,
+            0.0017000295016061824,
+            0.014305581355923925,
+            0.011438926270199932,
+            0.002118449176590245,
+            0.0058602236598143485,
+            0.00027887388050211573,
+            1.5555795333832006e-05,
+            4.93406625180896e-06,
+            0.020458635439581534,
+            0.0046092897976179725,
+            0.003973744104277999,
+            0.0006790801257121604,
+            -0.0002436134280204164,
+            6.288973541718051e-05,
+            4.551684421229731,
+            9.851651268731642,
+            10.298061299481535,
+            0.000644528955481467,
+            0.004273244234845448,
+            0.0899602675303569,
+            0.09812129067483859,
+            4.460391181043224,
+            5.859754780148664,
+            0.0005856309017408846,
+            0.0016656440457702018,
+            0.0021387303871108878,
+            0.01584688269752858,
+            0.0021789561980851127,
+            0.002267497057068728,
+            0.0010133122026379888,
+            -0.00016609756166588088,
+            -0.0001396788860026391,
+            0.03494519409279468,
+            0.011420830023601678,
+            0.008059805773841508,
+            0.0008560903337600507,
+            -0.0001538622692492708,
+            0.00014791463425401996,
+            0.004398709478441633,
+            0.0019190927897733828,
+            0.002747889776564187,
+            0.0005891354634533264,
+            -9.789273762904184e-06,
+            -4.300932241595087e-05
+        ],
+        "q99": [
+            0.05185240037675417,
+            6.877630112180475,
+            6.709218002955862,
+            0.000345327343563092,
+            0.00169186865863111,
+            0.0017102396468134714,
+            3.9767473864955605,
+            4.7042247316051435,
+            10.713849148421176,
+            0.0007088430192445428,
+            0.010847689533757003,
+            0.06621066506223836,
+            2.629115325960979,
+            3.218861552530538,
+            6.018487562280729,
+            0.0008990105171953535,
+            0.00426536171804329,
+            0.044919528068951046,
+            0.1378757673182853,
+            0.03341526766416737,
+            0.0767964185959197,
+            0.0004729901020648464,
+            0.0007130679447806346,
+            0.0011396618151819661,
+            0.027296652381108667,
+            0.008682408727597584,
+            0.005908073522248685,
+            0.0008592188872588445,
+            -6.305041127659938e-05,
+            0.0001574687883984461,
+            6.510345138214909,
+            16.74545987927104,
+            14.617727771293291,
+            0.0012883013854617421,
+            0.017300909557011156,
+            0.12688533965452936,
+            0.5292151727171772,
+            7.123526549509231,
+            8.055978403332201,
+            0.0011605074240992536,
+            0.006348576857531696,
+            0.01174995338701343,
+            0.022110427432563882,
+            0.003803728686776877,
+            0.004307754980842664,
+            0.0012147829583438968,
+            -1.1440927720760238e-05,
+            -6.73253788277295e-05,
+            0.13599887766570745,
+            0.05195100762632554,
+            0.11166405470249828,
+            0.0010576774874996467,
+            0.0006281031269131346,
+            0.002250117639437518,
+            0.008830577096488513,
+            0.0037415881702636752,
+            0.004997237597539426,
+            0.0008608947637425449,
+            7.132570227458911e-05,
+            4.1159322320114475e-06
+        ]
+    },
+    "observation.images.tactile_raw": {
+        "min": [
+            [
+                [
+                    0.06274509803921569
+                ]
+            ],
+            [
+                [
+                    0.06274509803921569
+                ]
+            ],
+            [
+                [
+                    0.06274509803921569
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.4738415389384093
+                ]
+            ],
+            [
+                [
+                    0.4738415389384093
+                ]
+            ],
+            [
+                [
+                    0.4738415389384093
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.0006586753878566688
+                ]
+            ],
+            [
+                [
+                    0.0006586753878566688
+                ]
+            ],
+            [
+                [
+                    0.0006586753878566688
+                ]
+            ]
+        ],
+        "count": [
+            690570240
+        ],
+        "q01": [
+            [
+                [
+                    0.19838206379613696
+                ]
+            ],
+            [
+                [
+                    0.19838206379613696
+                ]
+            ],
+            [
+                [
+                    0.19838206379613696
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.2631586037017845
+                ]
+            ],
+            [
+                [
+                    0.2631586037017845
+                ]
+            ],
+            [
+                [
+                    0.2631586037017845
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.48479209210227964
+                ]
+            ],
+            [
+                [
+                    0.48479209210227964
+                ]
+            ],
+            [
+                [
+                    0.48479209210227964
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.656656921004455
+                ]
+            ],
+            [
+                [
+                    0.656656921004455
+                ]
+            ],
+            [
+                [
+                    0.656656921004455
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.7884029175951832
+                ]
+            ],
+            [
+                [
+                    0.7884029175951832
+                ]
+            ],
+            [
+                [
+                    0.7884029175951832
+                ]
+            ]
+        ]
+    },
+    "timestamp": {
+        "min": [
+            0.0
+        ],
+        "max": [
+            78.96666666666667
+        ],
+        "mean": [
+            26.164134730161553
+        ],
+        "std": [
+            15.581845966164828
+        ],
+        "count": [
+            89918
+        ],
+        "q01": [
+            0.5052123452195157
+        ],
+        "q10": [
+            5.220290530507077
+        ],
+        "q50": [
+            26.156469468107954
+        ],
+        "q90": [
+            47.10505514963112
+        ],
+        "q99": [
+            51.821705661557004
+        ]
+    },
+    "observation.state.joint_torque": {
+        "min": [
+            -57.51449966430664,
+            -25.726499557495117,
+            -29.243000030517578,
+            -19.430999755859375,
+            -0.5879999995231628,
+            -3.1175999641418457,
+            -1.1519999504089355,
+            -1.9701471328735352,
+            -1.053207278251648,
+            -1.728581190109253,
+            -1.0438592433929443,
+            -0.42668578028678894,
+            -0.6735438704490662,
+            -1.0765190124511719,
+            -0.6059934496879578,
+            -0.04994520545005798,
+            -0.7723687291145325,
+            -0.44902923703193665,
+            -0.1411217600107193,
+            -0.05636673793196678,
+            -0.9114910364151001,
+            -1.7941980361938477,
+            -0.3254101872444153,
+            -0.038529157638549805,
+            -0.10687166452407837,
+            -0.521948516368866,
+            -0.6274896264076233,
+            -0.16934612393379211,
+            -0.032821137458086014,
+            -10.659000396728516,
+            -30.434999465942383,
+            -13.11299991607666,
+            -23.33099937438965,
+            -2.1080000400543213,
+            -8.663999557495117,
+            -4.139999866485596,
+            -2.228673219680786,
+            -2.3280081748962402,
+            -2.105116367340088,
+            -1.496198296546936,
+            -0.5893909335136414,
+            -1.9745774269104004,
+            -1.5466563701629639,
+            -0.9828715920448303,
+            -0.1591111570596695,
+            -1.2751280069351196,
+            -0.520029604434967,
+            -0.7853010892868042,
+            -0.06635577231645584,
+            -1.0659648180007935,
+            -0.6409221291542053,
+            -0.7686985731124878,
+            -0.04923170804977417,
+            -0.08840001374483109,
+            -0.9527480006217957,
+            -1.711684226989746,
+            -0.7122498750686646,
+            -0.14769510924816132,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "max": [
+            -1.0709999799728394,
+            26.773500442504883,
+            3.86299991607666,
+            7.697000026702881,
+            2.2095999717712402,
+            2.8447999954223633,
+            7.153600215911865,
+            2.5063021183013916,
+            4.14278507232666,
+            2.269151449203491,
+            1.7372798919677734,
+            0.4847947955131531,
+            2.142483711242676,
+            1.0698026418685913,
+            1.0559228658676147,
+            0.21405088901519775,
+            1.062126874923706,
+            1.0448565483093262,
+            0.2108525186777115,
+            0.12058199942111969,
+            1.0803567171096802,
+            0.40393444895744324,
+            0.3088076114654541,
+            0.04780469834804535,
+            0.1913134753704071,
+            0.8260987401008606,
+            0.5468946099281311,
+            0.1411217600107193,
+            0.039956167340278625,
+            59.733001708984375,
+            29.858999252319336,
+            34.4370002746582,
+            6.790999889373779,
+            1.5535999536514282,
+            4.007999897003174,
+            1.8871999979019165,
+            2.694784164428711,
+            5.012604236602783,
+            2.4157886505126953,
+            1.75592041015625,
+            0.874954879283905,
+            2.148240327835083,
+            1.4698991775512695,
+            1.0592433214187622,
+            0.21476440131664276,
+            1.531304955482483,
+            0.5238674879074097,
+            0.7836409211158752,
+            0.08490685373544693,
+            1.1168164014816284,
+            1.906455397605896,
+            0.7753396034240723,
+            0.11416048556566238,
+            0.4925771951675415,
+            0.8174635171890259,
+            0.4538266062736511,
+            0.7006280422210693,
+            0.1526896357536316,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "mean": [
+            -30.75377536833415,
+            1.3948901292342564,
+            -14.406250122234663,
+            -5.72056920898722,
+            0.23255485434513268,
+            0.7105168446362522,
+            1.8294299296253704,
+            0.06305376554337738,
+            0.22010336811751915,
+            0.315943474501667,
+            0.1664811183307159,
+            0.03298265376590375,
+            0.3190234394970826,
+            0.018770720132141212,
+            0.12012462205048147,
+            0.04799174268694314,
+            0.0365838794342292,
+            0.11018241234867165,
+            -0.0007393396892393739,
+            0.007944663312041026,
+            0.016218440063054864,
+            -0.10893521821857888,
+            -0.0006554583211528669,
+            0.00047223059015309883,
+            0.0016190049901264692,
+            0.016691256183193764,
+            0.017461020478945828,
+            -0.00022773429400036474,
+            -0.0003342234149314345,
+            27.390331809261244,
+            4.286599929504708,
+            14.277374544342859,
+            -6.644569330631848,
+            -0.6273037060323315,
+            1.1511307027117266,
+            -1.1073090847557676,
+            0.08204324231291554,
+            0.4674626612681697,
+            0.16776225841068387,
+            0.06892477966683958,
+            0.04293963368092578,
+            0.31389979112432403,
+            -0.1309341160757546,
+            0.14571046916102062,
+            0.03601882115960409,
+            0.01019489211436728,
+            0.0004070283924979237,
+            0.001957178042407384,
+            0.0011317273370944829,
+            -0.006939445398907246,
+            0.11149703983179611,
+            0.002206776437248946,
+            0.0002658316235599467,
+            0.15886864322201932,
+            -0.002516758011478075,
+            -0.10831302208834023,
+            0.00033529178939810633,
+            -4.6721303127433035e-05,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "std": [
+            2.312438645810755,
+            1.9258747237880975,
+            1.0570276402285053,
+            1.2921352381489606,
+            0.3018139479157895,
+            0.4535233056513368,
+            0.44383945340673475,
+            0.4617656406961028,
+            0.5335635823870485,
+            0.446337547535285,
+            0.32922808311957635,
+            0.06993460515323792,
+            0.40879899429883787,
+            0.2860966526928518,
+            0.1835893556094095,
+            0.04550145851078421,
+            0.17040587007392033,
+            0.15850751911741504,
+            0.006242228550563341,
+            0.014612747042777988,
+            0.15385905676095588,
+            0.19051486346474164,
+            0.01211698469276808,
+            0.006503995506692279,
+            0.01175565541154361,
+            0.08166087384884481,
+            0.07496605140347865,
+            0.016566890540109555,
+            0.007368200205994866,
+            4.806463357996938,
+            3.2963700072506414,
+            2.0611881912416656,
+            2.601987073151176,
+            0.28263969838231595,
+            0.7130913799210775,
+            0.7075076025900652,
+            0.4766103794149385,
+            0.8602106250810793,
+            0.35897060772891753,
+            0.3151401541660993,
+            0.0875548115686785,
+            0.5499508243445888,
+            0.32088777420130754,
+            0.25024090775284125,
+            0.05775323913680185,
+            0.07623522617501358,
+            0.06997199564134746,
+            0.031155869827406448,
+            0.005828969967396112,
+            0.14737108946607172,
+            0.22364250085268575,
+            0.022215972947556988,
+            0.007863220135886324,
+            0.15648837564235824,
+            0.10262514377955335,
+            0.19731259887098224,
+            0.02588513079612441,
+            0.005525651107048962,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "count": [
+            89918
+        ],
+        "q01": [
+            -37.30971106236149,
+            -3.425688972892587,
+            -17.967858953061462,
+            -9.748280986881642,
+            -0.15410722244665073,
+            -0.44356448195309095,
+            1.1896861327714061,
+            -0.8527289105615474,
+            -0.3428502188320614,
+            -0.5171330448295143,
+            -0.47344342112347626,
+            -0.07595672928513907,
+            -0.20332038654343582,
+            -0.47654968394696184,
+            -0.169957988668689,
+            -0.01449245797704804,
+            -0.3492254175436703,
+            -0.19628963254844653,
+            -0.02226191915628998,
+            -0.015170714742673059,
+            -0.4301726041771373,
+            -0.7252017798924986,
+            -0.03039266975154969,
+            -0.01652914354220216,
+            -0.03713675999197746,
+            -0.24580377898371267,
+            -0.2665330988452188,
+            -0.054407574837249346,
+            -0.019256604759771895,
+            17.178256220160737,
+            -1.5402158933700756,
+            8.337229217488842,
+            -12.333261977497397,
+            -1.3737419306525736,
+            -0.537500463076508,
+            -2.3507527617990833,
+            -1.0041688241573627,
+            -0.6725398339776969,
+            -0.4201036683628948,
+            -0.5918117022451171,
+            -0.09072540586046997,
+            -0.4063241725300524,
+            -1.0463512882381896,
+            -0.059583008635028856,
+            -0.015468331447777827,
+            -0.22156297449704107,
+            -0.21337623582597523,
+            -0.08465149530642128,
+            -0.011649663181590773,
+            -0.4140855624284783,
+            -0.33266191161777886,
+            -0.042709176886991836,
+            -0.013881089050882393,
+            -0.03299851832825647,
+            -0.3274773176996262,
+            -0.7545328456600439,
+            -0.06492862531006943,
+            -0.017137308426324865,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            3.999578446212127e-16,
+            3.999578446212127e-16
+        ],
+        "q10": [
+            -32.39902567442387,
+            -0.48562687070976,
+            -15.446350731013425,
+            -6.851836476016193,
+            -0.009264777186867145,
+            0.04134597695245155,
+            1.4665632928739258,
+            -0.2857872185740851,
+            -0.01743536613038574,
+            -0.047248151300468125,
+            -0.05536633809022337,
+            0.0007047075921735025,
+            0.025866120472252053,
+            -0.19473375304463938,
+            -0.0064481966036665575,
+            0.004092559289730851,
+            -0.11834495342761445,
+            0.0005761405834321789,
+            -0.001975264081268942,
+            -0.002385501651505408,
+            -0.11141948165567857,
+            -0.34469479370843453,
+            -0.007963845708389771,
+            -0.005625436434512956,
+            -0.00038010701183649107,
+            -0.0508661590778687,
+            -0.020715032666941705,
+            -0.01753543913585354,
+            -0.010523944639029606,
+            20.31699641157595,
+            0.3033893239708553,
+            11.707614307956867,
+            -10.677183813074146,
+            -0.9622061720323987,
+            0.33166297635485137,
+            -1.9237976375916304,
+            -0.40706519651886663,
+            -0.2560952079953289,
+            -0.1718524821866773,
+            -0.2922006808026013,
+            -0.033120707685967074,
+            -0.18909020814007824,
+            -0.6193481931342671,
+            -0.0034285633269199494,
+            -0.006640596173287928,
+            -0.03550000369065344,
+            -0.06640348567129226,
+            -0.015370921775943838,
+            -0.006094973035211693,
+            -0.16398719210268778,
+            -0.08183857288752625,
+            -0.00011612265824967795,
+            -0.009424847739365864,
+            0.004278080843993993,
+            -0.11936913128061136,
+            -0.3897110823789878,
+            -0.012310135264260239,
+            -0.0022649569126925962,
+            3.9995784462121255e-15,
+            3.9995784462121255e-15,
+            3.9995784462121255e-15,
+            3.9995784462121255e-15,
+            3.9995784462121255e-15,
+            3.9995784462121255e-15,
+            3.9995784462121255e-15
+        ],
+        "q50": [
+            -31.191589930100754,
+            1.315345594988992,
+            -14.245352474349255,
+            -5.649388241789719,
+            0.13965868340366747,
+            0.7646186956185328,
+            1.7575800921090408,
+            0.07145916287045859,
+            0.1505163818615024,
+            0.2454585849681323,
+            0.11919922580075618,
+            0.02529483099112027,
+            0.30130970138231383,
+            0.0024172012640892382,
+            0.11066274252404798,
+            0.050804355747457425,
+            0.012078661638765054,
+            0.06440951501010807,
+            4.3652298664548064e-07,
+            0.007083654572038034,
+            0.00552708881138197,
+            -0.0394583832746168,
+            -6.0340380941840235e-05,
+            0.00010035393181595093,
+            0.0002776622415001178,
+            0.009397633201447821,
+            0.011462675391838376,
+            2.952336130839203e-05,
+            0.00021723264013847476,
+            28.909141626693508,
+            4.0490364566311845,
+            14.611342110320848,
+            -6.100094269810673,
+            -0.6318936742976927,
+            1.1402070390856365,
+            -1.2634134504740997,
+            0.031009686601793936,
+            0.15524397507681137,
+            0.0889204689578854,
+            0.03766465191364078,
+            0.022929885414378518,
+            0.13250617406080634,
+            -0.040289847628864006,
+            0.007725666154762793,
+            0.009369725213646969,
+            0.0009117139037979894,
+            0.0004158683954039385,
+            0.00014291948902032177,
+            0.0004650760585724286,
+            -0.009431819429786057,
+            0.053437580232950393,
+            9.197333606383507e-06,
+            -0.0001654254816253625,
+            0.12765484273835678,
+            0.006349359635714352,
+            -0.03458303623057082,
+            1.1510639546861789e-05,
+            4.769475298831428e-07,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14,
+            1.9997892231060632e-14
+        ],
+        "q90": [
+            -27.81309309120724,
+            3.4422905538866915,
+            -13.617058043387681,
+            -4.602881111153836,
+            0.6126260703251836,
+            1.1873102727271285,
+            2.2638548203787265,
+            0.3653199825997484,
+            0.5949295215744829,
+            0.832514332877628,
+            0.48847500386537207,
+            0.08696415285725269,
+            0.6230188740162996,
+            0.28162163819761443,
+            0.2541791384437058,
+            0.07866830526409128,
+            0.25375306141407133,
+            0.3135528297545827,
+            0.00015491742448961695,
+            0.0201194637731929,
+            0.17392409829849204,
+            0.0006576361299815923,
+            0.005511136797638721,
+            0.008776008207712821,
+            0.005339137542537843,
+            0.10208011203788112,
+            0.08436694802022013,
+            0.014641226096347996,
+            0.008570826009743533,
+            32.24237507665736,
+            8.63681734953357,
+            16.294090800127066,
+            -3.937000960880866,
+            -0.27204109900504486,
+            2.1214365244764104,
+            -0.1506668359790045,
+            0.6294255845220029,
+            1.7715773711474403,
+            0.6435175297194915,
+            0.47915940569969734,
+            0.14708150052125077,
+            1.1764070641719429,
+            0.13840364323478127,
+            0.5258801591106483,
+            0.1279674228588763,
+            0.08143406317334206,
+            0.06643199689427945,
+            0.02451670270083948,
+            0.009001572861857472,
+            0.1627176005485633,
+            0.4070463263625105,
+            0.00928819993811413,
+            0.010672750435413492,
+            0.364070794072884,
+            0.09230379838087634,
+            0.04091533770856447,
+            0.014533669861423078,
+            0.002952035282770745,
+            3.5996206015909115e-14,
+            3.5996206015909115e-14,
+            3.5996206015909115e-14,
+            3.5996206015909115e-14,
+            3.5996206015909115e-14,
+            3.5996206015909115e-14,
+            3.5996206015909115e-14
+        ],
+        "q99": [
+            -25.29870277819461,
+            6.085221513337054,
+            -12.441200519812572,
+            -3.2551977360894746,
+            1.219072302091491,
+            1.3981939548726312,
+            3.6480918293642643,
+            0.8305255644916548,
+            1.1593344402116754,
+            1.181418691793855,
+            0.818201580055517,
+            0.16160493302191856,
+            0.9071287110255495,
+            0.483699102381624,
+            0.4129534796759929,
+            0.09922874547214032,
+            0.4672467053312416,
+            0.5373653455802597,
+            0.011256347409861582,
+            0.032375950453518654,
+            0.46574873944194745,
+            0.08014395187439759,
+            0.02471723334406841,
+            0.015315929694802865,
+            0.04021790253369319,
+            0.24867618649049544,
+            0.22297752699314305,
+            0.04115916228702293,
+            0.01277625095650873,
+            34.84249359764209,
+            11.853918137294004,
+            18.477258078802674,
+            -1.7852820346104017,
+            -0.04281128567820725,
+            2.616404273558033,
+            0.3727902079790697,
+            1.5827676624067897,
+            3.200296290263796,
+            1.3595767722622683,
+            0.9748050518701977,
+            0.36361340322511343,
+            1.879331336747763,
+            0.4670958394306864,
+            0.9089754243616659,
+            0.1961788353131626,
+            0.267820879328572,
+            0.21173780400849956,
+            0.07847843679626737,
+            0.012729639975324112,
+            0.3881764275123475,
+            0.7840710016866991,
+            0.060966031973780775,
+            0.017053109582829913,
+            0.4544912642611765,
+            0.2515442644666754,
+            0.17851423382874101,
+            0.06213887597299337,
+            0.01110035913892783,
+            3.959582661750004e-14,
+            3.959582661750004e-14,
+            3.959582661750004e-14,
+            3.959582661750004e-14,
+            3.959582661750004e-14,
+            3.959582661750004e-14,
+            3.959582661750004e-14
+        ]
+    },
+    "episode_index": {
+        "min": [
+            0
+        ],
+        "max": [
+            57
+        ],
+        "mean": [
+            28.413498965724322
+        ],
+        "std": [
+            16.749215791189297
+        ],
+        "count": [
+            89918
+        ],
+        "q01": [
+            28.413498965724322
+        ],
+        "q10": [
+            28.413498965724322
+        ],
+        "q50": [
+            28.413498965724344
+        ],
+        "q90": [
+            28.413498965724347
+        ],
+        "q99": [
+            28.41349896572435
+        ]
+    },
+    "observation.images.head_left": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.33474122994353195
+                ]
+            ],
+            [
+                [
+                    0.3340186898430663
+                ]
+            ],
+            [
+                [
+                    0.33388834647214244
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.009704218805326906
+                ]
+            ],
+            [
+                [
+                    0.00969131121940898
+                ]
+            ],
+            [
+                [
+                    0.009674617823500996
+                ]
+            ]
+        ],
+        "count": [
+            2301900800
+        ],
+        "q01": [
+            [
+                [
+                    0.072354433958134
+                ]
+            ],
+            [
+                [
+                    0.07042096975490234
+                ]
+            ],
+            [
+                [
+                    0.06898175561132669
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.1072607163603681
+                ]
+            ],
+            [
+                [
+                    0.10710744413620127
+                ]
+            ],
+            [
+                [
+                    0.10703765496454451
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.36337767085453
+                ]
+            ],
+            [
+                [
+                    0.36216885359588635
+                ]
+            ],
+            [
+                [
+                    0.3620470951981654
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.6182129120609888
+                ]
+            ],
+            [
+                [
+                    0.6167565617561224
+                ]
+            ],
+            [
+                [
+                    0.6161418133884673
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.8176976506950329
+                ]
+            ],
+            [
+                [
+                    0.8176394697389204
+                ]
+            ],
+            [
+                [
+                    0.8176943382223417
+                ]
+            ]
+        ]
+    },
+    "observation.images.wrist_left": {
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ],
+            [
+                [
+                    1.0
+                ]
+            ]
+        ],
+        "mean": [
+            [
+                [
+                    0.3045682741998673
+                ]
+            ],
+            [
+                [
+                    0.30632654428760026
+                ]
+            ],
+            [
+                [
+                    0.30432626014561354
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.001494062548128836
+                ]
+            ],
+            [
+                [
+                    0.0014545610153446692
+                ]
+            ],
+            [
+                [
+                    0.0017430100942424055
+                ]
+            ]
+        ],
+        "count": [
+            2301900800
+        ],
+        "q01": [
+            [
+                [
+                    0.023479272707762323
+                ]
+            ],
+            [
+                [
+                    0.023473566130344865
+                ]
+            ],
+            [
+                [
+                    0.02346828416581905
+                ]
+            ]
+        ],
+        "q10": [
+            [
+                [
+                    0.1214253433018196
+                ]
+            ],
+            [
+                [
+                    0.12176566155754927
+                ]
+            ],
+            [
+                [
+                    0.12062621090320327
+                ]
+            ]
+        ],
+        "q50": [
+            [
+                [
+                    0.26733488086821733
+                ]
+            ],
+            [
+                [
+                    0.26659453165910035
+                ]
+            ],
+            [
+                [
+                    0.2665312452121732
+                ]
+            ]
+        ],
+        "q90": [
+            [
+                [
+                    0.5504049628399221
+                ]
+            ],
+            [
+                [
+                    0.5560462688021476
+                ]
+            ],
+            [
+                [
+                    0.5527249701251389
+                ]
+            ]
+        ],
+        "q99": [
+            [
+                [
+                    0.7962296921667981
+                ]
+            ],
+            [
+                [
+                    0.7972667649618719
+                ]
+            ],
+            [
+                [
+                    0.8009603848475535
+                ]
+            ]
+        ]
+    }
+}
\ No newline at end of file
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/meta/subtasks.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/meta/subtasks.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..517293b8501d816b93a7989027d46d9d77a0955c
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/meta/subtasks.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87a8ea14282533c9812a6c87b7ec89de3b7f91b0ef974c38e7c9cc7d606c13f7
+size 3049
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/meta/tasks.parquet b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/meta/tasks.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b60bc101a38071bad3e67990e675d0ecfbdc73ed
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/meta/tasks.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1669fb1b398db0de19577c4fb9dce6b79165e81a711ff0a4524f2ad2a85a94d
+size 6401
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/meta/v40_validation.json b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..03977b68778b1cdde3dd3059bc7526761f9ee83d
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 58,
+  "frames": 89918,
+  "video_frames": {
+    "observation.images.head_left": 89918,
+    "observation.images.wrist_left": 89918,
+    "observation.images.wrist_right": 89918,
+    "observation.images.head_right": 89918,
+    "observation.images.tactile_deform": 89918,
+    "observation.images.tactile_raw": 89918
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 58
+}
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-000.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..446dc67efe4c3db9732e8dd7b6d497044623dbb0
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:bbd514886b0d47c39ab332dd4a857b95c77f6e50cd7447cf615a7fe111a708b5
+size 206751110
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-001.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.head_left/chunk-000/file-001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cf05665a2ea1d1182d4fbada63b10e645ffd7e62
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:a80cd61eab0bf28960626807a0bcd7d5e945b5bb1879089b42badb84839f351d
+size 58351931
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.head_right/chunk-000/file-000.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.head_right/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d851c1b1254f1b4297823467e3d2f4cd99f5213
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:420492686f3a9d9faa3cf41c561189d75ecb874481404725b892143ffe20f2b2
+size 206844288
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.head_right/chunk-000/file-001.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.head_right/chunk-000/file-001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..335b0e60f5e0f80b5606742574e341a62995d0fa
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:d6e0888e5941c940fd02ebb5ebf64d1a339c3fdf1ecfe2f45f58790c54c3632f
+size 58580884
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.tactile_deform/chunk-000/file-000.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.tactile_deform/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4b7c58c6863cbb5f487465478d6ee5c98d7082dd
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:cd58da3ec108abad1945d5eea7d897868075273d1fbd2c3a28ddd886403b1d45
+size 34164789
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-000.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5918ee4943700015322cccaaf7d48fd1e3ece7f8
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:cb40c373f6c2340dcea184916d272ec5742fd410481bb1d7c1048e99b4058a2d
+size 205357867
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-001.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..460e518ff7ff9753fabf2423e016b42ed0b2a9ba
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:69f58eae1ab197265954682e6e94d10a4f68662683e78eb7f09a6dafa2f9461c
+size 191876469
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-002.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6a92397489d9dd1f4ff6861720df9c9ad68fcce0
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:d54dca73b76e2ecdd8d4739b45fae57ae35ada66fe891950cf0b7b60c7aebca8
+size 191052609
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-003.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fc9c549b437f1ee393a5ecdb50771811f0261c81
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:beaba359ab05167ffe2a7f3e975080e75a5b0a7f42839f383c802c0d0e9a43c5
+size 207422651
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-004.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..be2b48246622ba182333a86ff01668ab05fd0f0d
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:280ed16bbd34dcabcf748ffc46fa033a455a23ef32e63e5143b1746f5a28f8dd
+size 180915107
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-005.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ffb4f9712d2a35bf387ca1adb52447dbb6906991
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:1e9517a894c95fe932bb29805dad6f6082e59614ae0cd5e8ff0800f4d886c226
+size 197867020
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-006.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b8e92d8aa87ef370d3bc2cf66f6861787e19b17
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7210e358b6877afbffd99a4369b14672fb3979fde9de33e150fde6c0de7f663a
+size 205673844
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-007.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..130ba133866cbb68e9c1aefc6410cdd86feaf3e5
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6da5968486e6c337ea34d2a5bee70415644a050bb85b15e65438462b141ec995
+size 207842230
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-008.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0700db9e068c754d77ca6d576d71caa97ffc904
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-008.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d773c28bf2bfca16cee3cb72e80c797dacae737e69a700813d87188b301207c
+size 183693087
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-009.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..693bd3bd189607a067a4becca2ce56fafef3c44e
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.tactile_raw/chunk-000/file-009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fb6f782ea6308b02549e27f13956e1ad9406abb49eed7773603db632f189525
+size 83547701
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.wrist_left/chunk-000/file-000.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.wrist_left/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3cedf60c8b471756a4512be68b7a11316a21d555
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:ef07633f508fe664fa15cfd7c23cbc77070abbedaeaf097a9fddb29a961b1180
+size 204642943
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.wrist_left/chunk-000/file-001.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.wrist_left/chunk-000/file-001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6319305b69be0258784ff6f46ec439b411fa85e5
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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 sha256:871aa2842673034fc2743744c7663e11a2f5c5ded23a6cb2473cf7501d2eff76
+size 197597937
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.wrist_right/chunk-000/file-000.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.wrist_right/chunk-000/file-000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4abd39f1975c6728eb7f811f0beef7dbd7dcc17d
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:c5f800211cc8b6025b6ad0638c2b6c929b4f8c84abd5122a355124c9969d230a
+size 203670341
diff --git a/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.wrist_right/chunk-000/file-001.mp4 b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_train/lerobot_v3.0/videos/observation.images.wrist_right/chunk-000/file-001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4ba45595e5aed4471b87f9b27b88dedf3523d539
--- /dev/null
+++ b/transfer_liquid_with_dropper/season_POC22018_2026_04_03_19_23_39_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:d65f28f3c608bd68f4d0dd36395625f55f7fcbb0cbff7f43d449d110d93be969
+size 205795550
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000000.parquet b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..697b71f7cdda47abcd411a20c7151b7100cdf11a
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:185ef70016f332ea139a63307b7e06d182dfb7ccaccc130c72379a6afd7c7f02
+size 1133823
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000001.parquet b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000001.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8ab3f26d7b23565ccde0e2e11bb27b3c7060e842
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000001.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec71e7e59d2d6601d14c7f2cc02fad5cba3b0fd846b7da41899cb23d48b5b28b
+size 1011658
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000002.parquet b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000002.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..863979b866cdb0c013987c46125cef6bea63d65e
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000002.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:008f8477bc918e72eddda9d1084c664b0d8fd129945a0d12a3eadb5ac00b52a4
+size 1088786
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000003.parquet b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000003.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..be4a53083476f9e80573a03a187c3fbc632651f9
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000003.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fc70e5bd1fff91b3439efd6f0ddbf0cf6306253e280b433f7c8c535ef6c0bff
+size 1050134
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000004.parquet b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000004.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..77b02385982fdff241a9c2171dece3e09a6fff0c
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000004.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:923e6b355233c39555c36ce4c9985c56138bf1663387a16c69a491bf935e5b91
+size 1091117
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000005.parquet b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000005.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ee4e4c6a02429796f674345569436c2b082aded7
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000005.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8e7c1975f8a3341a467f582c2eb1bd8040770c7c20a119cfad8983c1ec86acd
+size 1002526
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000006.parquet b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000006.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bde40afda515c8d089aca27b393687f28d61a39d
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000006.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c00cd8a6d90b6e7d20a3d88040316ea43aefd5b3f4ff0d82382d5231573cd586
+size 1070774
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000007.parquet b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000007.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..870aebdf1dcad8bebb3454574f19d6c0888fe904
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000007.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62ccde4d31ff5a478b5c1ec5d7519acae43cc1a07df83dee015aab2add1ce6ae
+size 945967
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000008.parquet b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000008.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6602bbbbae17a524df52078222fa01e649bf9abf
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000008.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a488cb0502361dc8450d69789fc9e77f658be28450e47ed503014191fe804b5
+size 1038682
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000009.parquet b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000009.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c7c9adf297281731be85925b3cd6db37fc900308
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000009.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc0a38d6da90a851e0a833f7adf4cf0216dd4f4bf35bb753375e30d6ff9265d8
+size 1041895
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000010.parquet b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000010.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1949d6bd6f4f55cf138cbe123b474132bf051786
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000010.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a53f4ed73361327750b32e56291f2d117b20c1024d8554c1ad253842788a9334
+size 1060118
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000011.parquet b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000011.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8e5aed44ac36194074a11669aa0124e56632e9fe
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000011.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:710e3c8d5cb5e1a7fe6326e7e89f1715f1331b3935155139ab5340ed414f848b
+size 939235
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000012.parquet b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000012.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2c6ecce4e6991306da9216622d2b103232f6b80e
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000012.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97f31ea4fae3e2b4358e27453612171bd450c5d9d52d1c3fe65003864073f2dc
+size 923176
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000013.parquet b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000013.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..eb9c98400066e472bd1ac755aae7c92e839cbc4b
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000013.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58499884dbc5fe58c2e83ba8ce257cb895c0574331a05016e303c4ef71b95f9a
+size 1017106
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000014.parquet b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000014.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5fe69fccdae61e2018e6e624fcf5a62c287f8a01
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000014.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf11f3d9991021a7a2c50476d7ddf4fab135d8fdc9abde6776796fd7ee21eb07
+size 903088
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000015.parquet b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000015.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ac1ba460f2e2806c192ba5abcd80699c33646556
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000015.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee49b0c4e4739faca3b09d4a8b3e429e5c3f002c6c66c9625b74eba59aff5ad2
+size 1095639
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000016.parquet b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000016.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1d207646c54f3586a85b8376abf2d07c8da63c40
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000016.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e93cf71bd20d3622373d4cf9668ad6782c963b394020469f8b221c81debcdede
+size 1036579
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000017.parquet b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000017.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..25b8477b6d1d64233a4d5da81916a5d770c26da4
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000017.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e86ccf8f9b70c221154502eb3a5fee3c256b1dda3275077e45b3591aac73ffc9
+size 939200
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000018.parquet b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000018.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9ce7b90b0201e0046845bb2be676737b3bc317e5
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000018.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33b543b8d2a14576727a263d87bd34ae2f6d351a7d6d01ca14353fe85abf0cce
+size 833810
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000019.parquet b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000019.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..99116eee2c009bcb8070c7ba7530762501b2b848
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000019.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dff42403fd610adb75e09275b2168e14a158b95beb9aad5b6d3337069359be35
+size 938708
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000020.parquet b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000020.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..56515190d5fa80148c079413f3aa00bc166a0514
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000020.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2175ce7e37e6d98b2c80024faee4020c705c0cb97c1d93fa4e5f5a9edafc2d1f
+size 965089
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000021.parquet b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000021.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..55a89b9a406fb7495df6a992525b0df4899dc271
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000021.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55bc4f3185d76f465b6428baf24cedf46c47d81b0a2478a0982e1f4cf91f0c7f
+size 938951
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000022.parquet b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000022.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a55158219c667cb532e0eff8c932eb9296d26888
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000022.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf6afe1318d5c1ac3cc27429b0f14aec1b8c619e3db985922d1d29f8e4d6b04c
+size 882941
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000023.parquet b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000023.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2132e4bf47de454121f474bb97268c72a2d9eab7
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/data/chunk-000/episode_000023.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:416429fb25af88c01cd84333e5cea333d52319fdac7122e95fa747b92a8a1149
+size 916441
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..946ae87685ea1abfa8b795a6a5d7c88e02abadd2
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl
@@ -0,0 +1,24 @@
+{"source_uid": "bac9e1a12ad0a281", "num_frames": 760, "episode_id": "POC22050_2026_06_03_15_28_55_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_28_55_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_28_55_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_28_55_train/train_0.3.0@2026_06_03_15_28_55.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 142, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 143, "end_step": 250, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 493, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 494, "end_step": 697, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 142, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 143, "end_step": 250, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 493, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 494, "end_step": 697, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "2978fc036b15bbf6", "num_frames": 683, "episode_id": "POC22050_2026_06_03_15_29_30_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_29_30_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_29_30_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_29_30_train/train_0.3.0@2026_06_03_15_29_30.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 244, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 245, "end_step": 445, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 623, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 244, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 245, "end_step": 445, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 623, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 1, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
+{"source_uid": "26c61bcd72ecfac4", "num_frames": 735, "episode_id": "POC22050_2026_06_03_15_29_59_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_29_59_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_29_59_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_29_59_train/train_0.3.0@2026_06_03_15_29_59.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 224, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 473, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 474, "end_step": 683, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 224, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 473, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 474, "end_step": 683, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 2, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
+{"source_uid": "a6cf02ce22f651e9", "num_frames": 707, "episode_id": "POC22050_2026_06_03_15_30_29_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_30_29_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_30_29_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_30_29_train/train_0.3.0@2026_06_03_15_30_29.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 154, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 233, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 234, "end_step": 445, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 647, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 154, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 233, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 234, "end_step": 445, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 647, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 3, "v40_language_source": "previous_published_lerobot", "episode_index": 3}
+{"source_uid": "fec3d787fa01a722", "num_frames": 740, "episode_id": "POC22050_2026_06_03_15_30_59_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_30_59_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_30_59_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_30_59_train/train_0.3.0@2026_06_03_15_30_59.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 215, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 216, "end_step": 270, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 482, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 665, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 215, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 216, "end_step": 270, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 482, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 665, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 4, "v40_language_source": "previous_published_lerobot", "episode_index": 4}
+{"source_uid": "ff7cdc04947e492d", "num_frames": 677, "episode_id": "POC22050_2026_06_03_15_31_30_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_31_30_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_31_30_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_31_30_train/train_0.3.0@2026_06_03_15_31_30.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 167, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 215, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 216, "end_step": 411, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 600, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 167, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 215, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 216, "end_step": 411, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 600, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 5, "v40_language_source": "previous_published_lerobot", "episode_index": 5}
+{"source_uid": "fca679b47a661549", "num_frames": 719, "episode_id": "POC22050_2026_06_03_15_32_01_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_32_01_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_32_01_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_32_01_train/train_0.3.0@2026_06_03_15_32_01.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 201, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 202, "end_step": 246, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 479, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 480, "end_step": 651, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 201, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 202, "end_step": 246, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 479, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 480, "end_step": 651, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 6, "v40_language_source": "previous_published_lerobot", "episode_index": 6}
+{"source_uid": "966fee226326f8aa", "num_frames": 636, "episode_id": "POC22050_2026_06_03_15_32_32_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_32_32_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_32_32_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_32_32_train/train_0.3.0@2026_06_03_15_32_32.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 151, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 152, "end_step": 208, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 209, "end_step": 390, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 556, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 151, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 152, "end_step": 208, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 209, "end_step": 390, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 556, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 7, "v40_language_source": "previous_published_lerobot", "episode_index": 7}
+{"source_uid": "f1c5636a292e1ee0", "num_frames": 701, "episode_id": "POC22050_2026_06_03_15_33_00_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_33_00_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_33_00_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_33_00_train/train_0.3.0@2026_06_03_15_33_00.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 157, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 158, "end_step": 229, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 230, "end_step": 423, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 424, "end_step": 611, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 157, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 158, "end_step": 229, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 230, "end_step": 423, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 424, "end_step": 611, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 8, "v40_language_source": "previous_published_lerobot", "episode_index": 8}
+{"source_uid": "d0020592b8a88e8d", "num_frames": 702, "episode_id": "POC22050_2026_06_03_15_34_00_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_34_00_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_34_00_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_34_00_train/train_0.3.0@2026_06_03_15_34_00.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 212, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 213, "end_step": 411, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 609, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 212, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 213, "end_step": 411, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 609, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 9}
+{"source_uid": "d2b67e09b87ff3cd", "num_frames": 712, "episode_id": "POC22050_2026_06_03_15_34_29_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_34_29_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_34_29_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_34_29_train/train_0.3.0@2026_06_03_15_34_29.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 161, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 162, "end_step": 241, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 242, "end_step": 458, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 625, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 161, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 162, "end_step": 241, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 242, "end_step": 458, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 625, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 10, "v40_language_source": "previous_published_lerobot", "episode_index": 10}
+{"source_uid": "6c3a29175f1778cf", "num_frames": 635, "episode_id": "POC22050_2026_06_03_15_36_33_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_36_33_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_36_33_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_36_33_train/train_0.3.0@2026_06_03_15_36_33.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 219, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 220, "end_step": 405, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 406, "end_step": 551, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 219, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 220, "end_step": 405, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 406, "end_step": 551, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 11, "v40_language_source": "previous_published_lerobot", "episode_index": 11}
+{"source_uid": "4fe18f2437cf77d7", "num_frames": 621, "episode_id": "POC22050_2026_06_03_15_37_00_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_37_00_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_37_00_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_37_00_train/train_0.3.0@2026_06_03_15_37_00.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 211, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 212, "end_step": 411, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 562, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 211, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 212, "end_step": 411, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 562, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 12, "v40_language_source": "previous_published_lerobot", "episode_index": 12}
+{"source_uid": "17f31cd5fbceb366", "num_frames": 688, "episode_id": "POC22050_2026_06_03_15_37_28_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_37_28_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_37_28_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_37_28_train/train_0.3.0@2026_06_03_15_37_28.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 242, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 243, "end_step": 453, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 454, "end_step": 624, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 242, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 243, "end_step": 453, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 454, "end_step": 624, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 13, "v40_language_source": "previous_published_lerobot", "episode_index": 13}
+{"source_uid": "cd858af761ed57df", "num_frames": 613, "episode_id": "POC22050_2026_06_03_15_37_57_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_37_57_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_37_57_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_37_57_train/train_0.3.0@2026_06_03_15_37_57.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 140, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 141, "end_step": 199, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 388, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 389, "end_step": 534, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 140, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 141, "end_step": 199, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 388, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 389, "end_step": 534, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 14, "v40_language_source": "previous_published_lerobot", "episode_index": 14}
+{"source_uid": "82653e4b3e35b1a1", "num_frames": 736, "episode_id": "POC22050_2026_06_03_15_38_25_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_38_25_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_38_25_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_38_25_train/train_0.3.0@2026_06_03_15_38_25.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 176, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 177, "end_step": 247, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 248, "end_step": 522, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 657, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 176, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 177, "end_step": 247, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 248, "end_step": 522, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 657, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 15, "v40_language_source": "previous_published_lerobot", "episode_index": 15}
+{"source_uid": "11f8adba232c649f", "num_frames": 707, "episode_id": "POC22050_2026_06_03_15_38_57_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_38_57_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_38_57_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_38_57_train/train_0.3.0@2026_06_03_15_38_57.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 177, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 178, "end_step": 223, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 224, "end_step": 482, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 628, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 177, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 178, "end_step": 223, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 224, "end_step": 482, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 628, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 16, "v40_language_source": "previous_published_lerobot", "episode_index": 16}
+{"source_uid": "b69b507ca607fb51", "num_frames": 630, "episode_id": "POC22050_2026_06_03_15_39_27_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_39_27_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_39_27_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_39_27_train/train_0.3.0@2026_06_03_15_39_27.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 155, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 213, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 214, "end_step": 416, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 417, "end_step": 555, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 155, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 213, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 214, "end_step": 416, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 417, "end_step": 555, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 17, "v40_language_source": "previous_published_lerobot", "episode_index": 17}
+{"source_uid": "011724ed8e9cccd4", "num_frames": 566, "episode_id": "POC22050_2026_06_03_15_39_54_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_39_54_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_39_54_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_39_54_train/train_0.3.0@2026_06_03_15_39_54.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 135, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 136, "end_step": 207, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 208, "end_step": 369, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 487, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 135, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 136, "end_step": 207, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 208, "end_step": 369, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 487, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 18, "v40_language_source": "previous_published_lerobot", "episode_index": 18}
+{"source_uid": "948880afcfa70a89", "num_frames": 633, "episode_id": "POC22050_2026_06_03_15_40_20_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_40_20_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_40_20_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_40_20_train/train_0.3.0@2026_06_03_15_40_20.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 143, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 144, "end_step": 207, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 208, "end_step": 412, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 413, "end_step": 559, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 143, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 144, "end_step": 207, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 208, "end_step": 412, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 413, "end_step": 559, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 19, "v40_language_source": "previous_published_lerobot", "episode_index": 19}
+{"source_uid": "849e3441997c99cc", "num_frames": 652, "episode_id": "POC22050_2026_06_03_15_41_19_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_41_19_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_41_19_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_41_19_train/train_0.3.0@2026_06_03_15_41_19.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 173, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 174, "end_step": 241, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 242, "end_step": 446, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 585, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 173, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 174, "end_step": 241, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 242, "end_step": 446, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 585, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 20, "v40_language_source": "previous_published_lerobot", "episode_index": 20}
+{"source_uid": "ee4df847595b9b11", "num_frames": 635, "episode_id": "POC22050_2026_06_03_15_41_47_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_41_47_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_41_47_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_41_47_train/train_0.3.0@2026_06_03_15_41_47.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 234, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 400, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 401, "end_step": 561, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 234, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 400, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 401, "end_step": 561, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 21, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
+{"source_uid": "b833783bb4e02cc4", "num_frames": 600, "episode_id": "POC22050_2026_06_03_15_42_17_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_42_17_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_42_17_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_42_17_train/train_0.3.0@2026_06_03_15_42_17.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 167, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 221, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 222, "end_step": 391, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 392, "end_step": 530, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 167, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 221, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 222, "end_step": 391, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 392, "end_step": 530, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 22, "v40_language_source": "previous_published_lerobot", "episode_index": 22}
+{"source_uid": "e5695b40dfd7afc2", "num_frames": 618, "episode_id": "POC22050_2026_06_03_15_42_43_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_42_43_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_42_43_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_42_43_train/train_0.3.0@2026_06_03_15_42_43.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 220, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 221, "end_step": 407, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 408, "end_step": 552, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 220, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 221, "end_step": 407, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 408, "end_step": 552, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 23, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotations.jsonl b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..946ae87685ea1abfa8b795a6a5d7c88e02abadd2
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,24 @@
+{"source_uid": "bac9e1a12ad0a281", "num_frames": 760, "episode_id": "POC22050_2026_06_03_15_28_55_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_28_55_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_28_55_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_28_55_train/train_0.3.0@2026_06_03_15_28_55.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 142, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 143, "end_step": 250, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 493, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 494, "end_step": 697, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 142, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 143, "end_step": 250, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 251, "end_step": 493, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 494, "end_step": 697, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 0, "v40_language_source": "previous_published_lerobot", "episode_index": 0}
+{"source_uid": "2978fc036b15bbf6", "num_frames": 683, "episode_id": "POC22050_2026_06_03_15_29_30_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_29_30_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_29_30_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_29_30_train/train_0.3.0@2026_06_03_15_29_30.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 244, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 245, "end_step": 445, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 623, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 244, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 245, "end_step": 445, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 623, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 1, "v40_language_source": "previous_published_lerobot", "episode_index": 1}
+{"source_uid": "26c61bcd72ecfac4", "num_frames": 735, "episode_id": "POC22050_2026_06_03_15_29_59_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_29_59_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_29_59_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_29_59_train/train_0.3.0@2026_06_03_15_29_59.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 224, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 473, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 474, "end_step": 683, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 166, "end_step": 224, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 225, "end_step": 473, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 474, "end_step": 683, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 2, "v40_language_source": "previous_published_lerobot", "episode_index": 2}
+{"source_uid": "a6cf02ce22f651e9", "num_frames": 707, "episode_id": "POC22050_2026_06_03_15_30_29_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_30_29_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_30_29_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_30_29_train/train_0.3.0@2026_06_03_15_30_29.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 154, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 233, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 234, "end_step": 445, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 647, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 154, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 155, "end_step": 233, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 234, "end_step": 445, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 647, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 3, "v40_language_source": "previous_published_lerobot", "episode_index": 3}
+{"source_uid": "fec3d787fa01a722", "num_frames": 740, "episode_id": "POC22050_2026_06_03_15_30_59_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_30_59_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_30_59_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_30_59_train/train_0.3.0@2026_06_03_15_30_59.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 215, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 216, "end_step": 270, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 482, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 665, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 215, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 216, "end_step": 270, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 271, "end_step": 482, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 665, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 4, "v40_language_source": "previous_published_lerobot", "episode_index": 4}
+{"source_uid": "ff7cdc04947e492d", "num_frames": 677, "episode_id": "POC22050_2026_06_03_15_31_30_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_31_30_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_31_30_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_31_30_train/train_0.3.0@2026_06_03_15_31_30.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 167, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 215, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 216, "end_step": 411, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 600, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 167, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 215, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 216, "end_step": 411, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 600, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 5, "v40_language_source": "previous_published_lerobot", "episode_index": 5}
+{"source_uid": "fca679b47a661549", "num_frames": 719, "episode_id": "POC22050_2026_06_03_15_32_01_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_32_01_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_32_01_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_32_01_train/train_0.3.0@2026_06_03_15_32_01.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 201, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 202, "end_step": 246, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 479, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 480, "end_step": 651, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 201, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 202, "end_step": 246, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 479, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 480, "end_step": 651, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 6, "v40_language_source": "previous_published_lerobot", "episode_index": 6}
+{"source_uid": "966fee226326f8aa", "num_frames": 636, "episode_id": "POC22050_2026_06_03_15_32_32_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_32_32_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_32_32_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_32_32_train/train_0.3.0@2026_06_03_15_32_32.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 151, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 152, "end_step": 208, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 209, "end_step": 390, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 556, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 151, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 152, "end_step": 208, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 209, "end_step": 390, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 391, "end_step": 556, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 7, "v40_language_source": "previous_published_lerobot", "episode_index": 7}
+{"source_uid": "f1c5636a292e1ee0", "num_frames": 701, "episode_id": "POC22050_2026_06_03_15_33_00_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_33_00_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_33_00_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_33_00_train/train_0.3.0@2026_06_03_15_33_00.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 157, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 158, "end_step": 229, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 230, "end_step": 423, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 424, "end_step": 611, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 157, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 158, "end_step": 229, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 230, "end_step": 423, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 424, "end_step": 611, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 8, "v40_language_source": "previous_published_lerobot", "episode_index": 8}
+{"source_uid": "d0020592b8a88e8d", "num_frames": 702, "episode_id": "POC22050_2026_06_03_15_34_00_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_34_00_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_34_00_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_34_00_train/train_0.3.0@2026_06_03_15_34_00.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 212, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 213, "end_step": 411, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 609, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 212, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 213, "end_step": 411, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 609, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 9, "v40_language_source": "previous_published_lerobot", "episode_index": 9}
+{"source_uid": "d2b67e09b87ff3cd", "num_frames": 712, "episode_id": "POC22050_2026_06_03_15_34_29_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_34_29_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_34_29_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_34_29_train/train_0.3.0@2026_06_03_15_34_29.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 161, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 162, "end_step": 241, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 242, "end_step": 458, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 625, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 161, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 162, "end_step": 241, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 242, "end_step": 458, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 459, "end_step": 625, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 10, "v40_language_source": "previous_published_lerobot", "episode_index": 10}
+{"source_uid": "6c3a29175f1778cf", "num_frames": 635, "episode_id": "POC22050_2026_06_03_15_36_33_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_36_33_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_36_33_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_36_33_train/train_0.3.0@2026_06_03_15_36_33.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 219, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 220, "end_step": 405, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 406, "end_step": 551, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 172, "end_step": 219, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 220, "end_step": 405, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 406, "end_step": 551, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 11, "v40_language_source": "previous_published_lerobot", "episode_index": 11}
+{"source_uid": "4fe18f2437cf77d7", "num_frames": 621, "episode_id": "POC22050_2026_06_03_15_37_00_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_37_00_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_37_00_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_37_00_train/train_0.3.0@2026_06_03_15_37_00.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 211, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 212, "end_step": 411, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 562, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 211, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 212, "end_step": 411, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 412, "end_step": 562, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 12, "v40_language_source": "previous_published_lerobot", "episode_index": 12}
+{"source_uid": "17f31cd5fbceb366", "num_frames": 688, "episode_id": "POC22050_2026_06_03_15_37_28_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_37_28_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_37_28_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_37_28_train/train_0.3.0@2026_06_03_15_37_28.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 242, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 243, "end_step": 453, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 454, "end_step": 624, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 159, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 160, "end_step": 242, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 243, "end_step": 453, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 454, "end_step": 624, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 13, "v40_language_source": "previous_published_lerobot", "episode_index": 13}
+{"source_uid": "cd858af761ed57df", "num_frames": 613, "episode_id": "POC22050_2026_06_03_15_37_57_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_37_57_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_37_57_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_37_57_train/train_0.3.0@2026_06_03_15_37_57.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 140, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 141, "end_step": 199, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 388, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 389, "end_step": 534, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 140, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 141, "end_step": 199, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 200, "end_step": 388, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 389, "end_step": 534, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 14, "v40_language_source": "previous_published_lerobot", "episode_index": 14}
+{"source_uid": "82653e4b3e35b1a1", "num_frames": 736, "episode_id": "POC22050_2026_06_03_15_38_25_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_38_25_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_38_25_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_38_25_train/train_0.3.0@2026_06_03_15_38_25.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 176, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 177, "end_step": 247, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 248, "end_step": 522, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 657, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 176, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 177, "end_step": 247, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 248, "end_step": 522, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 523, "end_step": 657, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 15, "v40_language_source": "previous_published_lerobot", "episode_index": 15}
+{"source_uid": "11f8adba232c649f", "num_frames": 707, "episode_id": "POC22050_2026_06_03_15_38_57_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_38_57_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_38_57_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_38_57_train/train_0.3.0@2026_06_03_15_38_57.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 177, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 178, "end_step": 223, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 224, "end_step": 482, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 628, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 177, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 178, "end_step": 223, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 224, "end_step": 482, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 483, "end_step": 628, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 16, "v40_language_source": "previous_published_lerobot", "episode_index": 16}
+{"source_uid": "b69b507ca607fb51", "num_frames": 630, "episode_id": "POC22050_2026_06_03_15_39_27_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_39_27_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_39_27_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_39_27_train/train_0.3.0@2026_06_03_15_39_27.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 155, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 213, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 214, "end_step": 416, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 417, "end_step": 555, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 155, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 156, "end_step": 213, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 214, "end_step": 416, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 417, "end_step": 555, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 17, "v40_language_source": "previous_published_lerobot", "episode_index": 17}
+{"source_uid": "011724ed8e9cccd4", "num_frames": 566, "episode_id": "POC22050_2026_06_03_15_39_54_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_39_54_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_39_54_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_39_54_train/train_0.3.0@2026_06_03_15_39_54.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 135, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 136, "end_step": 207, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 208, "end_step": 369, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 487, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 135, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 136, "end_step": 207, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 208, "end_step": 369, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 370, "end_step": 487, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 18, "v40_language_source": "previous_published_lerobot", "episode_index": 18}
+{"source_uid": "948880afcfa70a89", "num_frames": 633, "episode_id": "POC22050_2026_06_03_15_40_20_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_40_20_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_40_20_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_40_20_train/train_0.3.0@2026_06_03_15_40_20.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 143, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 144, "end_step": 207, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 208, "end_step": 412, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 413, "end_step": 559, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 143, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 144, "end_step": 207, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 208, "end_step": 412, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 413, "end_step": 559, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 19, "v40_language_source": "previous_published_lerobot", "episode_index": 19}
+{"source_uid": "849e3441997c99cc", "num_frames": 652, "episode_id": "POC22050_2026_06_03_15_41_19_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_41_19_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_41_19_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_41_19_train/train_0.3.0@2026_06_03_15_41_19.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 173, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 174, "end_step": 241, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 242, "end_step": 446, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 585, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 173, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 174, "end_step": 241, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 242, "end_step": 446, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 447, "end_step": 585, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 20, "v40_language_source": "previous_published_lerobot", "episode_index": 20}
+{"source_uid": "ee4df847595b9b11", "num_frames": 635, "episode_id": "POC22050_2026_06_03_15_41_47_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_41_47_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_41_47_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_41_47_train/train_0.3.0@2026_06_03_15_41_47.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 234, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 400, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 401, "end_step": 561, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 162, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 163, "end_step": 234, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 235, "end_step": 400, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 401, "end_step": 561, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 21, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
+{"source_uid": "b833783bb4e02cc4", "num_frames": 600, "episode_id": "POC22050_2026_06_03_15_42_17_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_42_17_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_42_17_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_42_17_train/train_0.3.0@2026_06_03_15_42_17.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 167, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 221, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 222, "end_step": 391, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 392, "end_step": 530, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 167, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 168, "end_step": 221, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 222, "end_step": 391, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 392, "end_step": 530, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 22, "v40_language_source": "previous_published_lerobot", "episode_index": 22}
+{"source_uid": "e5695b40dfd7afc2", "num_frames": 618, "episode_id": "POC22050_2026_06_03_15_42_43_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_42_43_train", "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_42_43_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/pour_drug/season_POC22050_2026_06_03_15_02_33_train/POC22050_2026_06_03_15_42_43_train/train_0.3.0@2026_06_03_15_42_43.hdf5", "tags": {"task_name": "Pour pills from right cup to left cup", "task_instruction": "Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position.", "scene_description": "A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills.", "success_criteria": "All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "score": "S", "SOP": "V0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 220, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 221, "end_step": 407, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 408, "end_step": 552, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "subtask-001", "text": "Pick up the empty cup on the left with the right hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 165, "end_step": 220, "id": "subtask-002", "text": "Pick up the cup containing pills on the right with the left hand | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 221, "end_step": 407, "id": "subtask-003", "text": "Pour the pills from the right cup into the left cup | Skill: pour", "task_skill": "pour", "atomic_action": []}, {"label": "subtasks", "start_step": 408, "end_step": 552, "id": "subtask-004", "text": "Place both cups back on the table in an upright position | Skill: place", "task_skill": "place", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 23, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/episodes.jsonl b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9d91b48be8a7b2d4b8d1016f349acf8f6ef2dc59
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,24 @@
+{"episode_index": 0, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 760}
+{"episode_index": 1, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 683}
+{"episode_index": 2, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 735}
+{"episode_index": 3, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 707}
+{"episode_index": 4, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 740}
+{"episode_index": 5, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 677}
+{"episode_index": 6, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 719}
+{"episode_index": 7, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 636}
+{"episode_index": 8, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 701}
+{"episode_index": 9, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 702}
+{"episode_index": 10, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 712}
+{"episode_index": 11, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 635}
+{"episode_index": 12, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 621}
+{"episode_index": 13, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 688}
+{"episode_index": 14, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 613}
+{"episode_index": 15, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 736}
+{"episode_index": 16, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 707}
+{"episode_index": 17, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 630}
+{"episode_index": 18, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 566}
+{"episode_index": 19, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 633}
+{"episode_index": 20, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 652}
+{"episode_index": 21, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 635}
+{"episode_index": 22, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 600}
+{"episode_index": 23, "tasks": ["Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."], "length": 618}
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/episodes_stats.jsonl b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0e3e8f1bd9e6451842dc03f0d34c96e97154cb4a
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,24 @@
+{"episode_index": 0, "stats": {"observation.state": {"min": [1.00732421875, -0.9040834903717041, -0.2308722585439682, 1.0423696041107178, -1.012452483177185, -0.7692206501960754, -0.012412301264703274, 0.009277945384383202, -0.2921554744243622, -0.010901329107582569, -0.09759847819805145, 0.021447153761982918, 0.010735929012298584, -0.11582902073860168, 0.011127246543765068, 0.009264877997338772, 0.008775870315730572, -0.10881499946117401, 0.01693321391940117, 0.009195704013109207, 0.0017569416668266058, -0.04489422217011452, 0.01424066349864006, 0.009570395573973656, 0.03706616535782814, -0.0013850439572706819, -0.03568119555711746, 0.011265881359577179, 0.0010837254812940955, 0.9126065969467163, -0.8778689503669739, -0.2334659993648529, 0.95920330286026, -2.29581880569458, -0.7667555212974548, 0.0050126416608691216, 0.011050567030906677, -0.2892306447029114, 0.03448456898331642, -0.15331712365150452, 0.011030450463294983, 0.01706160232424736, -0.11778613924980164, 0.00900802481919527, 0.008301320485770702, 0.014016516506671906, -0.05911998450756073, 0.018342601135373116, 0.007056631613522768, -0.005307128187268972, -0.023933833464980125, 0.014005588367581367, 0.01014862023293972, 0.022079147398471832, -0.02498329058289528, -0.0373159684240818, 0.010944646783173084, 0.006722291000187397, 0.5620121955871582, -1.1069588661193848, 0.5442755818367004, -0.0035473306197673082, 0.0001917476038215682, -0.07372695207595825, -0.7321882247924805], "max": [1.299628734588623, -0.5928205847740173, -0.00037211019662208855, 1.5697468519210815, 0.18177828192710876, -0.114558644592762, 0.5198349356651306, 1.4224298000335693, -0.003632511477917433, 0.2916436791419983, 0.13655638694763184, 0.5080903768539429, 0.7234286069869995, 0.10415060073137283, 0.5012660622596741, 0.5842340588569641, 0.8454464077949524, 0.08797285705804825, 0.4183884263038635, 0.34294813871383667, 0.7862744331359863, 0.10511885583400726, 0.3349441885948181, 0.505325198173523, 0.1668459177017212, 0.24028868973255157, 0.0860137790441513, 0.8377646803855896, 1.2960608005523682, 1.2431262731552124, -0.5709261894226074, -0.0021635121665894985, 1.5674084424972534, 0.23999811708927155, -0.14438726007938385, 0.6515218019485474, 1.4141323566436768, 0.008604020811617374, 0.4726984202861786, 0.13941620290279388, 0.745814859867096, 0.6233951449394226, 0.13591904938220978, 0.51413494348526, 0.5835511684417725, 0.7055304646492004, 0.17469215393066406, 0.7920597791671753, 0.4073415696620941, 0.7372417449951172, 0.1727161556482315, 0.3262971341609955, 0.36429673433303833, 0.047365061938762665, 0.09837785363197327, 0.12916037440299988, 0.7252902388572693, 1.292675256729126, 0.5627791881561279, -1.106767177581787, 0.559711217880249, 0.0, 0.009108010679483414, 0.09184709936380386, -0.5826250910758972], "mean": [1.1654415130615234, -0.7265180349349976, -0.2223338484764099, 1.337296724319458, -0.595582127571106, -0.25240761041641235, 0.21447737514972687, 1.2436612844467163, -0.24510562419891357, 0.17895148694515228, 0.010763825848698616, 0.32151126861572266, 0.4909507632255554, 0.011076508089900017, 0.3196938931941986, 0.4171724319458008, 0.5442385077476501, 0.010180145502090454, 0.23415207862854004, 0.22834812104701996, 0.426237016916275, 0.05136953666806221, 0.2229839563369751, 0.3494805693626404, 0.0604996420443058, 0.10750360041856766, 0.027252422645688057, 0.4869614839553833, 0.8573600649833679, 1.1353294849395752, -0.7263525724411011, -0.2218620628118515, 1.2887449264526367, -0.6129814386367798, -0.36316007375717163, 0.4078390896320343, 1.1511635780334473, -0.1630345731973648, 0.3358488082885742, -0.013040376827120781, 0.3265720307826996, 0.47431597113609314, 0.041341379284858704, 0.40771204233169556, 0.4318642318248749, 0.45944005250930786, 0.08983325958251953, 0.5388237237930298, 0.3091491460800171, 0.36837929487228394, 0.0987720862030983, 0.2184194028377533, 0.2475588321685791, 0.025591986253857613, 0.03419191762804985, 0.049748849123716354, 0.37738218903541565, 1.0056437253952026, 0.5623064637184143, -1.1068692207336426, 0.5587118268013, -0.0029501402750611305, 0.0074679432436823845, 0.004286069888621569, -0.6886004209518433], "std": [0.07423888146877289, 0.08182863891124725, 0.03712485358119011, 0.12770752608776093, 0.2918359935283661, 0.11803024262189865, 0.1809675395488739, 0.2856697738170624, 0.04707806557416916, 0.07473481446504593, 0.05760748311877251, 0.1704426258802414, 0.2238333523273468, 0.07987634092569351, 0.09544310718774796, 0.11427552998065948, 0.3151140511035919, 0.06260934472084045, 0.07440076023340225, 0.0689610168337822, 0.3304218351840973, 0.04746668040752411, 0.12605226039886475, 0.1971241980791092, 0.02786151133477688, 0.09402430802583694, 0.04604443535208702, 0.3137592673301697, 0.5160945653915405, 0.09999605268239975, 0.06556931883096695, 0.036376409232616425, 0.14386455714702606, 0.8119238018989563, 0.1715611219406128, 0.22414982318878174, 0.29571035504341125, 0.06833387166261673, 0.11431009322404861, 0.0870240330696106, 0.21606047451496124, 0.15631060302257538, 0.0758722722530365, 0.1262034922838211, 0.10750619322061539, 0.21884091198444366, 0.0610281266272068, 0.12405292689800262, 0.05995626002550125, 0.2702313959598541, 0.0528460256755352, 0.11006555706262589, 0.12405146658420563, 0.007959331385791302, 0.030033934861421585, 0.04865282401442528, 0.21005627512931824, 0.3867729902267456, 8.387515845242888e-05, 1.2910953955724835e-05, 0.0023909970186650753, 0.0005051434854976833, 0.0012379492400214076, 0.049339644610881805, 0.03642256185412407], "count": [760]}, "observation.state.joint_torque": {"min": [-35.099998474121094, -11.020500183105469, -18.503000259399414, -8.425999641418457, -0.42719998955726624, -2.2392001152038574, 0.9391999840736389, -1.0493866205215454, -0.3413054049015045, -0.5070173144340515, -0.8363301157951355, -0.0879935771226883, -0.4096912145614624, -0.8337743878364563, -0.10293588042259216, -0.0321076326072216, -0.3521233797073364, -0.7272738814353943, -0.11953844130039215, -0.022118592634797096, -0.3406097888946533, -0.3789883852005005, -0.12119869887828827, -0.027826614677906036, -0.07696519792079926, -0.393380343914032, -0.33485302329063416, -0.15772433578968048, -0.07848532497882843, 14.881500244140625, -3.934499979019165, 3.2269999980926514, -6.275000095367432, -1.6823999881744385, -1.4048000574111938, -2.9647998809814453, -1.0251896381378174, -0.5119580626487732, -0.34298232197761536, -0.3889618515968323, -0.12949997186660767, -0.3837856650352478, -0.406812846660614, -0.07305127382278442, -0.05279921740293503, -0.3905019462108612, -0.6898547410964966, -0.10293588042259216, -0.014983562752604485, -0.29743391275405884, -0.41736695170402527, -0.13780125975608826, -0.022118592634797096, -0.08971942216157913, -0.33773139119148254, -0.5449756979942322, -0.3121281564235687, -0.21405088901519775, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.228500366210938, 17.520000457763672, -9.444999694824219, 8.289999961853027, 1.7079999446868896, 2.0511999130249023, 3.199199914932251, 2.0656614303588867, 3.3977713584899902, 1.8006572723388672, 0.7021195888519287, 0.5429037809371948, 1.2799253463745117, 0.2763257324695587, 0.2473781555891037, 0.05993425101041794, 1.5082777738571167, 0.3127853274345398, 0.33869224786758423, 0.06778278201818466, 1.4372775554656982, 0.3770694434642792, 0.29718583822250366, 0.0834798514842987, 0.05057712271809578, 0.378028929233551, 0.34252873063087463, 0.12451920658349991, 0.0635017603635788, 38.6609992980957, 9.703499794006348, 17.666000366210938, 3.9519999027252197, 1.1440000534057617, 2.9992001056671143, 1.8631999492645264, 0.9169398546218872, 2.392958164215088, 1.997002124786377, 0.7940786480903625, 0.26232045888900757, 0.9278019070625305, 0.5104349255561829, 0.21915379166603088, 0.03638865053653717, 0.957545280456543, 0.3271772861480713, 0.14610254764556885, 0.019978083670139313, 0.6725844144821167, 0.2840014100074768, 0.13780125975608826, 0.01855107769370079, -0.0101154251024127, 0.3722721040248871, 0.6409221291542053, 0.15274357795715332, 0.04709119349718094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-27.417329788208008, 1.8746130466461182, -13.551488876342773, -2.833814859390259, 0.17431160807609558, 0.5860756039619446, 1.8924592733383179, 0.4494326114654541, 1.552516222000122, 0.7289900779724121, 0.12017945945262909, 0.1604241281747818, 0.5299081802368164, -0.005949948448687792, 0.10843438655138016, 0.022185208275914192, 0.6889368295669556, -0.0019126132829114795, 0.1571563184261322, 0.03507252037525177, 0.5774053931236267, 0.04792775213718414, 0.13076913356781006, 0.03625065088272095, -0.038174714893102646, 0.04130108654499054, -0.04178592935204506, 0.034736476838588715, 0.00724958349019289, 26.068113327026367, 3.310086488723755, 12.702193260192871, -2.391627788543701, -0.2849128246307373, 0.6248708367347717, -1.3468060493469238, -0.031394146382808685, 0.5286464095115662, 0.38516685366630554, 0.12169361114501953, 0.029351551085710526, 0.27939319610595703, 0.003181366017088294, 0.09433314949274063, -0.0008449358283542097, 0.19759820401668549, -0.0766775906085968, 0.046576689928770065, 0.010603026486933231, 0.0816870927810669, -0.048007283359766006, 0.010426818393170834, 0.002419340657070279, -0.027794258669018745, -0.02075851708650589, 0.08286111056804657, 0.007067033555358648, 0.007795946206897497, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.3933732509613037, 1.8508371114730835, 1.162450909614563, 1.317745566368103, 0.31256231665611267, 0.5164074301719666, 0.461650550365448, 0.7298760414123535, 1.471946120262146, 0.7374053001403809, 0.2992746829986572, 0.13512545824050903, 0.4921671152114868, 0.19888520240783691, 0.08336198329925537, 0.015158236026763916, 0.6623372435569763, 0.15552690625190735, 0.14798898994922638, 0.02923576906323433, 0.6345497965812683, 0.16359403729438782, 0.12970291078090668, 0.036181554198265076, 0.02206956408917904, 0.15924328565597534, 0.11734314262866974, 0.0517563633620739, 0.01195297110825777, 2.3776116371154785, 2.09162974357605, 1.9864225387573242, 1.1449590921401978, 0.41527360677719116, 1.2723774909973145, 1.106348991394043, 0.4199875295162201, 0.6963651180267334, 0.5665613412857056, 0.2575138509273529, 0.09296271204948425, 0.33319708704948425, 0.1722847819328308, 0.07886771857738495, 0.010708356276154518, 0.33064448833465576, 0.1683187484741211, 0.05128665640950203, 0.006844802759587765, 0.2307533323764801, 0.13367202877998352, 0.06681372225284576, 0.009953731670975685, 0.0217160452157259, 0.13923192024230957, 0.22906054556369781, 0.07323646545410156, 0.028583696112036705, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [760]}, "observation.state.tcp": {"min": [0.3517763614654541, 0.12946255505084991, 0.9114222526550293, -1.2769007682800293, 1.2181060314178467, -1.3785496950149536, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3223699629306793, -0.3018036484718323, 0.8826153874397278, -1.0555957555770874, 0.9948139786720276, 0.5994442701339722, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.43316078186035156, 0.2724628746509552, 1.062807321548462, -0.17465740442276, 2.2105114459991455, -0.7264837026596069, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4348803758621216, -0.11310314387083054, 1.066433310508728, 1.352981448173523, 1.869593620300293, 1.528148889541626, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3762419819831848, 0.20343802869319916, 0.9949536919593811, -0.532565176486969, 1.893347144126892, -1.1009286642074585, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3797280490398407, -0.21145354211330414, 0.9974855780601501, 0.5083204507827759, 1.4833813905715942, 1.150246024131775, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.020045287907123566, 0.04763031378388405, 0.03961283713579178, 0.28604650497436523, 0.25758156180381775, 0.14696934819221497, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.023231344297528267, 0.05402616783976555, 0.05352034419775009, 0.785599410533905, 0.22074924409389496, 0.2855612337589264, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [760]}, "action": {"min": [1.0073460340499878, -0.9041858315467834, -0.23086410760879517, 1.0423399209976196, -1.0124273300170898, -0.7699999809265137, -0.012463593855500221, 0.0, -0.29286623001098633, 0.0, -0.08627162128686905, 0.0, 0.0, -0.1247180923819542, 0.0, 0.0, 0.0, -0.1164771243929863, 0.0, 0.0, 0.0, -0.08543749898672104, 0.0, 0.0, -9.967766168017533e-09, 0.0, -0.11898625642061234, 0.0, 0.0, 0.9126227498054504, -0.8782040476799011, -0.233452707529068, 0.9591215252876282, -2.2957940101623535, -0.7623939514160156, 0.004889564123004675, 0.0, -0.28372839093208313, 0.0, -0.13905732333660126, 0.0, 0.0, -0.1471603512763977, 0.0, 0.0, 0.0, -0.0981234535574913, 0.0, 0.0, 0.0, -0.05295808985829353, 0.0, 0.0, -9.928277755477666e-09, -0.001974670449271798, -0.08230084180831909, 0.0, 0.0, 0.5622998476028442, -1.1068999767303467, 0.5442000031471252, -0.0036426030565053225, 5.363404970593564e-19, -0.07375971972942352, -0.7323321104049683], "max": [1.2995693683624268, -0.5927877426147461, 8.5605588507481705e-19, 1.5700000524520874, 0.1817767322063446, -0.11456919461488724, 0.5199999809265137, 1.5223227739334106, 0.0, 0.4535342752933502, 0.1419469118118286, 0.6198024749755859, 0.8368598222732544, 0.11113137006759644, 0.5536142587661743, 0.6077950596809387, 1.090843677520752, 0.08741829544305801, 0.43828028440475464, 0.35776129364967346, 0.9944838285446167, 0.10953933745622635, 0.4063551425933838, 0.5883005857467651, 0.17294743657112122, 0.25672706961631775, 0.08192611485719681, 0.8522873520851135, 1.354740858078003, 1.2430996894836426, -0.5709285140037537, -0.0029996137600392103, 1.5669176578521729, 0.24001502990722656, -0.1439065784215927, 0.6516542434692383, 1.459834337234497, 0.07522179931402206, 0.5205622315406799, 0.142007976770401, 0.8115445375442505, 0.6615577936172485, 0.1372406780719757, 0.5592817664146423, 0.5980704426765442, 0.7601242661476135, 0.16671961545944214, 0.8227841258049011, 0.42461609840393066, 0.8158067464828491, 0.16681383550167084, 0.3598785996437073, 0.3806822896003723, 0.010767067782580853, 0.1052616611123085, 0.1358509361743927, 0.734743058681488, 1.3993014097213745, 0.5626999735832214, -1.106863021850586, 0.5605166554450989, 6.388947242198958e-20, 0.010497981682419777, 0.09188375622034073, -0.5826839804649353], "mean": [1.1655185222625732, -0.7268598675727844, -0.22233909368515015, 1.3373922109603882, -0.5955159068107605, -0.25261202454566956, 0.21470455825328827, 1.262999176979065, -0.1664614975452423, 0.2712121605873108, 0.014779578894376755, 0.36155086755752563, 0.5716888904571533, 0.011072701774537563, 0.34553709626197815, 0.4386114478111267, 0.6574501991271973, 0.009972602128982544, 0.2734399139881134, 0.2637161314487457, 0.5202991962432861, 0.04886142164468765, 0.2561330497264862, 0.38741761445999146, 0.03884371370077133, 0.11174169927835464, 0.014292665757238865, 0.4977972209453583, 0.8749368190765381, 1.135719895362854, -0.7265518307685852, -0.221862331032753, 1.2887156009674072, -0.6061010956764221, -0.3629339933395386, 0.4079953134059906, 1.146261215209961, -0.13533087074756622, 0.3854682445526123, -0.008618001826107502, 0.3335212469100952, 0.5096156597137451, 0.042134661227464676, 0.42984288930892944, 0.4302940368652344, 0.4870958924293518, 0.08609402179718018, 0.5489776134490967, 0.31924569606781006, 0.3799391984939575, 0.09571074694395065, 0.22171230614185333, 0.25087088346481323, 0.0005633103428408504, 0.03259098529815674, 0.05116467550396919, 0.3806057274341583, 1.0414130687713623, 0.5623095631599426, -1.1068689823150635, 0.5587571263313293, -0.0029922467656433582, 0.007510474417358637, 0.004325583577156067, -0.6886566877365112], "std": [0.07430294901132584, 0.08196046203374863, 0.03715519979596138, 0.12749123573303223, 0.29120931029319763, 0.11834202706813812, 0.1809585988521576, 0.32013025879859924, 0.09166514873504639, 0.154043048620224, 0.055880822241306305, 0.20449934899806976, 0.28804442286491394, 0.08328058570623398, 0.11642277240753174, 0.13444079458713531, 0.41533902287483215, 0.06587744504213333, 0.10087516158819199, 0.09229083359241486, 0.4244091808795929, 0.06111957132816315, 0.1533542275428772, 0.22704754769802094, 0.03574138134717941, 0.10157155245542526, 0.06650594621896744, 0.32208868861198425, 0.5345559120178223, 0.09991699457168579, 0.06563031673431396, 0.036367837339639664, 0.14377428591251373, 0.8073398470878601, 0.1714067906141281, 0.22387726604938507, 0.31081998348236084, 0.09382316470146179, 0.13346926867961884, 0.08492341637611389, 0.23399733006954193, 0.18718163669109344, 0.07814409583806992, 0.14695928990840912, 0.12130076438188553, 0.2471260130405426, 0.060756489634513855, 0.13870874047279358, 0.0718155950307846, 0.28556010127067566, 0.05502142757177353, 0.11584412306547165, 0.12780973315238953, 0.0017193519743159413, 0.02723311074078083, 0.05872717127203941, 0.21188876032829285, 0.4320187270641327, 6.680251681245863e-05, 7.62347963245702e-06, 0.0025381329469382763, 0.0005383471725508571, 0.0013568793656304479, 0.04944676160812378, 0.03647366538643837], "count": [760]}, "observation.state.tcp_pose": {"min": [0.3517763614654541, 0.12946255505084991, 0.9114222526550293, -1.2769007682800293, 1.2181060314178467, -1.3785496950149536, 0.3223699629306793, -0.3018036484718323, 0.8826153874397278, -1.0555957555770874, 0.9948139786720276, 0.5994442701339722], "max": [0.43316078186035156, 0.2724628746509552, 1.062807321548462, -0.17465740442276, 2.2105114459991455, -0.7264837026596069, 0.4348803758621216, -0.11310314387083054, 1.066433310508728, 1.352981448173523, 1.869593620300293, 1.528148889541626], "mean": [0.3762419819831848, 0.20343802869319916, 0.9949536919593811, -0.532565176486969, 1.893347144126892, -1.1009286642074585, 0.3797280490398407, -0.21145354211330414, 0.9974855780601501, 0.5083204507827759, 1.4833813905715942, 1.150246024131775], "std": [0.020045287907123566, 0.04763031378388405, 0.03961283713579178, 0.28604650497436523, 0.25758156180381775, 0.14696934819221497, 0.023231344297528267, 0.05402616783976555, 0.05352034419775009, 0.785599410533905, 0.22074924409389496, 0.2855612337589264], "count": [760]}, "action.tcp_pose": {"min": [0.3518761098384857, 0.1294502317905426, 0.9116025567054749, -1.2686189413070679, 1.2178406715393066, -1.3790181875228882, 0.3223453760147095, -0.3017827868461609, 0.882453978061676, -1.0556957721710205, 0.9940968155860901, 0.5990889072418213], "max": [0.433341383934021, 0.27332568168640137, 1.0630449056625366, -0.1742544025182724, 2.210374593734741, -0.7264416813850403, 0.4348239600658417, -0.11305239051580429, 1.0670233964920044, 1.3524751663208008, 1.8696171045303345, 1.5291533470153809], "mean": [0.37625131011009216, 0.2036108523607254, 0.9949916005134583, -0.5327267050743103, 1.8929190635681152, -1.1009800434112549, 0.38003310561180115, -0.2117629200220108, 0.9975948929786682, 0.515271782875061, 1.48453688621521, 1.151376485824585], "std": [0.020038070157170296, 0.04770597815513611, 0.039627742022275925, 0.2853418290615082, 0.25754761695861816, 0.14661674201488495, 0.023285746574401855, 0.05390768125653267, 0.05345289409160614, 0.7806897163391113, 0.21934683620929718, 0.2842884361743927], "count": [760]}, "subtask_index": {"min": [0], "max": [4], "mean": [1.9131578947368422], "std": [1.217346348811212], "count": [760]}, "observation.tactile": {"min": [-4.442587852478027, -5.009519372833893e-05, -0.00011572381481528282, -0.15377771854400635, -0.03698758780956268, -0.0368671752512455, -0.030984465032815933, -4.024415829917416e-05, -9.090630192076787e-05, -0.059595536440610886, -0.008417279459536076, -0.00047414531582035124, -0.01806965284049511, -0.47648462653160095, -7.072719745337963e-05, -0.09232750535011292, -0.007477796170860529, -0.00036191902472637594, -0.48206284642219543, -3.2388157706009224e-05, -7.408221426885575e-05, -0.07878676056861877, -6.809787009842694e-05, -0.0120207779109478, -0.006320958025753498, -4.69833830720745e-05, -0.00010689171904232353, -0.0014721322804689407, -0.00014342096983455122, -8.284788054879755e-05, -0.002382736187428236, -4.046765388920903e-05, -9.008474444271997e-05, -0.0918113961815834, -1.6198182493099011e-06, -0.0013225278817117214, -0.00771874887868762, -3.2860232749953866e-05, -7.273776282090694e-05, -0.0014029189478605986, -5.5464399338234216e-05, -0.00013555237092077732, -0.5738716721534729, -4.4459498894866556e-05, -0.00010276368266204372, -0.025964615866541862, -0.0011205459013581276, -0.005654926411807537, -0.012152186594903469, -4.5370143197942525e-05, -0.00010236518573947251, -0.0010004685027524829, -0.00011205142800463364, -0.00018093538528773934, -0.08663193136453629, -5.34805039933417e-05, -1.0089083909988403, -0.013222071342170238, -0.0010101525112986565, -0.0012453909730538726], "max": [0.011304305866360664, 6.981889724731445, 11.892422676086426, 2.1528135221160483e-06, 0.00034120376221835613, 8.121067367028445e-05, 1.41443932056427, 1.4185025691986084, 3.522364377975464, 1.676435886110994e-06, 0.0001448689727112651, 0.024380508810281754, 1.8726187944412231, 1.138925552368164, 5.610847473144531, 1.2729123000099207e-06, 0.00024280398793052882, 0.02815760299563408, 1.1708685159683228, 2.482468843460083, 3.8398356437683105, 1.3645885701407678e-06, 0.006442537996917963, 0.022047702223062515, 0.07594321668148041, 0.02178528904914856, 0.06795647740364075, 1.97387566913676e-06, 0.00034138234332203865, 0.0011297556338831782, 4.206587791442871, 5.364708423614502, 8.422908782958984, 1.7145302990684286e-06, 0.029839973896741867, 0.04052378237247467, 0.028867587447166443, 0.023137621581554413, 0.06612352281808853, 1.3348407037483412e-06, 0.00028301990823820233, 0.000514231447596103, 0.22284334897994995, 2.0009827613830566, 3.2760818004608154, 1.8821243656930164e-06, 0.0028058879543095827, 0.002858783584088087, 0.006706078536808491, 0.01618659496307373, 0.04977140575647354, 1.8837396282833652e-06, 0.0002953563816845417, 3.500299499137327e-05, 3.025005578994751, 2.0181617736816406, 0.6604858040809631, 0.021862128749489784, 0.0032030839938670397, 0.06236977130174637], "mean": [-2.200190305709839, 3.2197885513305664, 5.480181694030762, -0.07190120220184326, -0.0156446173787117, -0.017423707991838455, 0.4357563555240631, 0.3222499191761017, 1.3099467754364014, -0.020438695326447487, -0.003080938011407852, 0.00737718865275383, 0.8297683596611023, 0.1589861661195755, 2.553792953491211, -0.04117939621210098, -0.002515043132007122, 0.011883534491062164, 0.271009624004364, 0.9866598844528198, 1.5818662643432617, -0.032054875046014786, 0.002077508717775345, 0.003996636252850294, 0.00291699287481606, 0.002993852598592639, 0.009209616109728813, -0.0001788473891792819, 4.0995717426994815e-05, 4.494158201850951e-05, 0.8554567694664001, 1.1725437641143799, 2.117091655731201, -0.022290794178843498, 0.006868320982903242, 0.005592082627117634, 0.0012097220169380307, 0.004123053979128599, 0.012352582067251205, -0.00023171439534053206, 3.9934730011736974e-05, 1.0813589142344426e-05, -0.05180894955992699, 0.1512940675020218, 0.3027421832084656, -0.002479013055562973, 0.0002306500100530684, -0.0004918373306281865, -0.0003471330273896456, 0.0014080338878557086, 0.004149770364165306, -8.590047218604013e-05, 1.7534572407384985e-06, -7.832222763681784e-06, 0.07371166348457336, 0.046590425074100494, 0.010454623959958553, -0.0002114387898473069, 9.743175905896351e-05, 0.0014370480785146356], "std": [1.9826663732528687, 3.1409032344818115, 5.081605434417725, 0.06736330687999725, 0.014400170184671879, 0.015752824023365974, 0.4315916895866394, 0.31978052854537964, 1.202589988708496, 0.018860623240470886, 0.0030104645993560553, 0.007293711882084608, 0.7871868014335632, 0.2390003502368927, 2.381840467453003, 0.03847324103116989, 0.0024962900206446648, 0.011153494007885456, 0.35353729128837585, 1.0438339710235596, 1.6067525148391724, 0.03248218819499016, 0.0021442959550768137, 0.0061491867527365685, 0.007112600840628147, 0.004568808246403933, 0.014171791262924671, 0.0002840601373463869, 8.114203956210986e-05, 0.00011514312791405246, 1.3670504093170166, 1.7811838388442993, 3.078899383544922, 0.03236991539597511, 0.01017077174037695, 0.010750490240752697, 0.004068341571837664, 0.004495039116591215, 0.013788270764052868, 0.00027144679916091263, 5.2071030950173736e-05, 6.845659663667902e-05, 0.12499292939901352, 0.38539767265319824, 0.7283278703689575, 0.0056860740296542645, 0.0005616343696601689, 0.0011923472629860044, 0.0014779949560761452, 0.002681007608771324, 0.007900811731815338, 0.0001656028616707772, 2.6711428290582262e-05, 2.716915878409054e-05, 0.37699875235557556, 0.22478342056274414, 0.11771582812070847, 0.0025081748608499765, 0.000423380610300228, 0.007629470434039831], "count": [760]}, "timestamp": {"min": [0.0], "max": [25.3], "mean": [12.65], "std": [7.313097079137464], "count": [760]}, "frame_index": {"min": [0], "max": [759], "mean": [379.5], "std": [219.39291237412388], "count": [760]}, "episode_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [760]}, "index": {"min": [0], "max": [759], "mean": [379.5], "std": [219.39291237412388], "count": [760]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [760]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5358452796936035]], [[0.5356002449989319]], [[0.5369064807891846]]], "std": [[[0.27840548753738403]], [[0.27846559882164]], [[0.27886590361595154]]], "count": [760]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2228972613811493]], [[0.22533978521823883]], [[0.22150343656539917]]], "std": [[[0.1456918716430664]], [[0.14807309210300446]], [[0.1477629393339157]]], "count": [760]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2988605797290802]], [[0.3012431263923645]], [[0.3010711669921875]]], "std": [[[0.16921544075012207]], [[0.1720162183046341]], [[0.17151187360286713]]], "count": [760]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.534038782119751]], [[0.5340338945388794]], [[0.5352159738540649]]], "std": [[[0.2800765335559845]], [[0.28025850653648376]], [[0.2806585133075714]]], "count": [760]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.572549045085907]], [[0.572549045085907]], [[0.572549045085907]]], "mean": [[[0.0036401250399649143]], [[0.0036401250399649143]], [[0.0036401250399649143]]], "std": [[[0.03433578088879585]], [[0.03433578088879585]], [[0.03433578088879585]]], "count": [760]}, "observation.images.tactile_raw": {"min": [[[0.07058823853731155]], [[0.07058823853731155]], [[0.07058823853731155]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.508437991142273]], [[0.508437991142273]], [[0.508437991142273]]], "std": [[[0.23755599558353424]], [[0.23755599558353424]], [[0.23755599558353424]]], "count": [760]}}}
+{"episode_index": 1, "stats": {"observation.state": {"min": [0.9808645844459534, -0.9228531122207642, -0.23096777498722076, 1.1843531131744385, -1.0892515182495117, -0.7700418829917908, -0.06692974269390106, 0.009698019362986088, -0.29436588287353516, 0.017097488045692444, -0.002728552557528019, 0.022139260545372963, 0.015581130981445312, -0.12704135477542877, 0.011120510287582874, 0.010701567865908146, 0.012150902301073074, -0.09359914064407349, 0.0172211192548275, 0.012456635013222694, -0.0005725633236579597, -0.04401354491710663, 0.016084035858511925, 0.002531501231715083, 0.032341647893190384, -0.0037692522164434195, -0.03737582638859749, 0.011138592846691608, 0.003198852762579918, 0.8882547616958618, -0.8584606647491455, -0.23327462375164032, 0.8544588088989258, -2.1564202308654785, -0.7693373560905457, 0.04772346094250679, 0.01338256523013115, -0.2808053195476532, 0.023701997473835945, -0.12901659309864044, 0.01466897502541542, -0.0010465102968737483, -0.14483299851417542, 0.008335418999195099, 0.010111815296113491, -0.010408926755189896, -0.10319632291793823, 0.015001200139522552, 0.008986852131783962, -0.005955493543297052, -0.036482393741607666, 0.013952049426734447, 0.01013930793851614, 0.03639398515224457, -0.018277131021022797, -0.07705097645521164, 0.01077091135084629, 0.005641669500619173, 0.5620121955871582, -1.1070547103881836, 0.5441796779632568, -0.002972087822854519, 0.0, -0.02502306178212166, -0.753663957118988], "max": [1.3008500337600708, -0.6601961851119995, 2.672482150956057e-05, 1.5700092315673828, 0.1174754798412323, -0.22206169366836548, 0.5200336575508118, 1.4707372188568115, -0.003988083451986313, 0.25466692447662354, 0.15461225807666779, 0.2594676911830902, 0.7045673727989197, 0.0740790069103241, 0.5038246512413025, 0.5092330574989319, 0.7541652917861938, 0.06461943686008453, 0.4104430377483368, 0.3348202109336853, 0.7088417410850525, 0.08005166053771973, 0.34647634625434875, 0.42545849084854126, 0.15443949401378632, 0.17056426405906677, 0.03963074833154678, 0.7758708000183105, 1.296011209487915, 1.2280595302581787, -0.4709201157093048, -0.0002606569032650441, 1.5696978569030762, 0.2432144582271576, -0.1377849131822586, 0.6563484072685242, 1.4384241104125977, 0.010751727037131786, 0.5121053457260132, 0.14200590550899506, 0.4574066698551178, 0.6039890646934509, 0.09350075572729111, 0.389850378036499, 0.5324657559394836, 0.5449559092521667, 0.1513635218143463, 0.7450177669525146, 0.42184194922447205, 0.5963031053543091, 0.14076054096221924, 0.33603551983833313, 0.4218977987766266, 0.04779640585184097, 0.06238413229584694, 0.07253596931695938, 0.42702311277389526, 1.3040131330490112, 0.5627791881561279, -1.106767177581787, 0.5565474033355713, 0.0, 0.009299758821725845, 0.11763714998960495, -0.5878981351852417], "mean": [1.1217955350875854, -0.7593165636062622, -0.2212590128183365, 1.4088504314422607, -0.7204638719558716, -0.36261501908302307, 0.1701706051826477, 1.2591655254364014, -0.2272453010082245, 0.16660594940185547, 0.0728287324309349, 0.18007990717887878, 0.4266073703765869, -0.008404572494328022, 0.35401254892349243, 0.39139822125434875, 0.4676322042942047, -0.0056823426857590675, 0.28456875681877136, 0.2452755570411682, 0.37244585156440735, 0.027419589459896088, 0.2250894159078598, 0.277048259973526, 0.07104527205228806, 0.07436533272266388, -0.010880507528781891, 0.45661020278930664, 0.8593085408210754, 1.1006512641906738, -0.6902303695678711, -0.21801897883415222, 1.2321268320083618, -0.5224778056144714, -0.36552003026008606, 0.44784465432167053, 1.1409275531768799, -0.15283572673797607, 0.3650774359703064, -0.0028621689416468143, 0.2576257288455963, 0.4424349069595337, 0.019327182322740555, 0.30878061056137085, 0.4237019121646881, 0.35508954524993896, 0.06434110552072525, 0.5660055875778198, 0.3059841990470886, 0.27219438552856445, 0.07484256476163864, 0.20589539408683777, 0.25544828176498413, 0.0381358303129673, 0.018572743982076645, 0.02578006125986576, 0.2513596713542938, 0.9493104219436646, 0.5623084306716919, -1.1068663597106934, 0.5556719303131104, -0.0022147803101688623, 0.006788487080484629, 0.03775869309902191, -0.6997774839401245], "std": [0.06668828427791595, 0.08024042099714279, 0.04024335369467735, 0.10271656513214111, 0.31964683532714844, 0.10141751915216446, 0.19455061852931976, 0.3155854642391205, 0.054953038692474365, 0.07475271075963974, 0.03147359564900398, 0.03335316479206085, 0.20083199441432953, 0.06638175994157791, 0.13024236261844635, 0.12240429222583771, 0.27386239171028137, 0.05185423791408539, 0.10373197495937347, 0.0799592062830925, 0.2943513095378876, 0.03609616681933403, 0.13516110181808472, 0.171040877699852, 0.029518209397792816, 0.05869464576244354, 0.021061548963189125, 0.30290231108665466, 0.51679527759552, 0.08866617828607559, 0.07252722233533859, 0.03886939212679863, 0.15314853191375732, 0.7612436413764954, 0.19480261206626892, 0.17582641541957855, 0.3260971009731293, 0.07368412613868713, 0.09878060966730118, 0.085884228348732, 0.12481251358985901, 0.17273038625717163, 0.06714647263288498, 0.09318140149116516, 0.12226227670907974, 0.16011914610862732, 0.06458577513694763, 0.19103020429611206, 0.06628257781267166, 0.21985799074172974, 0.05218660831451416, 0.12225181609392166, 0.15954680740833282, 0.0022712256759405136, 0.018487120047211647, 0.03814338520169258, 0.12100131064653397, 0.42192989587783813, 0.00010943920642603189, 4.0828785131452605e-05, 0.0020058739464730024, 0.0005427165888249874, 0.0012598573230206966, 0.04138675704598427, 0.04530813917517662], "count": [683]}, "observation.state.joint_torque": {"min": [-33.167999267578125, -16.390499114990234, -16.542999267578125, -11.175999641418457, -0.30799999833106995, -2.22160005569458, 0.843999981880188, -0.969154417514801, -0.45337578654289246, -0.6387424468994141, -0.5132308006286621, -0.0879935771226883, -0.3981776833534241, -0.6015840768814087, -0.10957689583301544, -0.02497260272502899, -0.3761099874973297, -0.378028929233551, -0.12783971428871155, -0.019978083670139313, -0.32813677191734314, -0.23506873846054077, -0.09463459998369217, -0.016410568729043007, -0.06948857009410858, -0.36843428015708923, -0.37323158979415894, -0.18926919996738434, -0.1726677119731903, 5.484000205993652, -9.567000389099121, -1.8899999856948853, -6.75, -1.7680000066757202, -3.3696000576019287, -4.041600227355957, -1.0595749616622925, -0.4966757297515869, -0.41505831480026245, -0.3852337598800659, -0.09463459998369217, -0.33965033292770386, -0.42024534940719604, -0.07803203910589218, -0.02497260272502899, -0.35404229164123535, -0.5852732062339783, -0.10791664570569992, -0.022832093760371208, -0.2955149710178375, -0.3530828356742859, -0.1328205019235611, -0.06564227491617203, -0.08708061277866364, -0.2935960590839386, -0.5795164108276367, -0.30382686853408813, -0.20905636250972748, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-20.059499740600586, 16.799999237060547, -10.229999542236328, 6.0980000495910645, 1.9223999977111816, 2.6823999881744385, 3.2688000202178955, 0.9704279899597168, 1.8860942125320435, 1.0214909315109253, 0.7195172309875488, 0.19757047295570374, 0.6476383805274963, 0.40105608105659485, 0.16104483604431152, 0.11915499716997147, 0.9824913740158081, 0.38762345910072327, 0.18262816965579987, 0.14270058274269104, 0.6591519713401794, 0.3732316195964813, 0.11123716086149216, 0.08633385598659515, 0.05497513338923454, 0.34156927466392517, 0.23602820932865143, 0.10459613054990768, 0.2104833722114563, 53.606998443603516, 12.808500289916992, 24.545000076293945, 5.006999969482422, 1.8392000198364258, 3.0, 6.283999919891357, 0.6838842034339905, 1.70525324344635, 0.6250728368759155, 0.822660505771637, 0.28556403517723083, 0.9546669125556946, 0.564164936542511, 0.14776279032230377, 0.032821137458086014, 0.6687465310096741, 0.3972181975841522, 0.18760894238948822, 0.020691584795713425, 1.09762704372406, 1.1456003189086914, 0.31544867157936096, 0.07563132047653198, -0.000879602157510817, 0.29263654351234436, 0.8990179896354675, 0.3370319902896881, 0.2111968696117401, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-26.171794891357422, 2.322986364364624, -13.440589904785156, -3.5988705158233643, 0.33808693289756775, 0.8533480763435364, 1.7523547410964966, 0.1971842348575592, 0.7788779139518738, 0.41460010409355164, 0.24945512413978577, 0.07840879261493683, 0.23144720494747162, 0.07750304788351059, 0.020195357501506805, 0.01003293041139841, 0.42834094166755676, 0.037528764456510544, 0.052685756236314774, 0.017830265685915947, 0.20308905839920044, 0.109853595495224, 0.03576001897454262, 0.00840847473591566, -0.020104004070162773, 0.02016846090555191, -0.05124785378575325, 0.0249257180839777, 0.006298277527093887, 25.710540771484375, 2.9685192108154297, 11.906895637512207, -2.3941633701324463, -0.2742041349411011, 0.5404263138771057, -1.1551696062088013, 0.017456436529755592, 0.49050402641296387, 0.18853402137756348, 0.06270396709442139, 0.07693815231323242, 0.334543913602829, 0.07038648426532745, 0.03436950221657753, -0.0011250985553488135, 0.1355782300233841, -0.03806391358375549, 0.04468351602554321, 0.00871142279356718, 0.05951487272977829, 0.030489308759570122, 0.007584176491945982, 0.00355499517172575, -0.05410317704081535, 0.005172315984964371, 0.12216261029243469, 0.006913298740983009, 0.008641399443149567, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.7005237340927124, 2.1267216205596924, 0.969115674495697, 1.2885000705718994, 0.3093535006046295, 0.5824266672134399, 0.49650630354881287, 0.4491502046585083, 0.8473018407821655, 0.5551110506057739, 0.23460015654563904, 0.08876707404851913, 0.28698262572288513, 0.17865855991840363, 0.04709290340542793, 0.01060003787279129, 0.4679759740829468, 0.13439321517944336, 0.0709739625453949, 0.014036834239959717, 0.2842954397201538, 0.15741851925849915, 0.06598220020532608, 0.011122222989797592, 0.018811499699950218, 0.2153601348400116, 0.07865117490291595, 0.0535331591963768, 0.01638621836900711, 4.215795516967773, 2.6012794971466064, 3.036619186401367, 1.5413323640823364, 0.48212185502052307, 1.2663347721099854, 1.5883129835128784, 0.4599134922027588, 0.555341899394989, 0.236293226480484, 0.2628736197948456, 0.10137705504894257, 0.3976608216762543, 0.22397562861442566, 0.039305947721004486, 0.010729518719017506, 0.2572697103023529, 0.20456261932849884, 0.07323550432920456, 0.007601818535476923, 0.1806984394788742, 0.19097590446472168, 0.0709049180150032, 0.01207431498914957, 0.012189531698822975, 0.13603127002716064, 0.27944889664649963, 0.0781291201710701, 0.034835901111364365, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [683]}, "observation.state.tcp": {"min": [0.32828590273857117, 0.13577905297279358, 0.9121346473693848, -1.2202469110488892, 1.2175711393356323, -1.3310141563415527, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.35022804141044617, -0.2817433178424835, 0.8657403588294983, -0.9623538255691528, 1.1140410900115967, 0.6489384770393372, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.425532728433609, 0.26449406147003174, 1.0708539485931396, -0.12007845193147659, 2.1707847118377686, -0.6757559180259705, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.44638723134994507, -0.11974333971738815, 1.0517158508300781, 1.381596326828003, 1.8305013179779053, 1.554966688156128, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3544138967990875, 0.20198757946491241, 0.9838901162147522, -0.4605388045310974, 1.875760793685913, -1.0095709562301636, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3805347979068756, -0.20997481048107147, 0.9818070530891418, 0.594679594039917, 1.486007809638977, 1.190641164779663, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.024953342974185944, 0.043351463973522186, 0.037754952907562256, 0.29152992367744446, 0.2519586384296417, 0.15378743410110474, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.022051317617297173, 0.04769730567932129, 0.05049222335219383, 0.7561358213424683, 0.18941137194633484, 0.2493465095758438, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [683]}, "action": {"min": [0.980884850025177, -0.9228812456130981, -0.23095998167991638, 1.1843290328979492, -1.0892223119735718, -0.7699999809265137, -0.06691991537809372, 0.0, -0.2921052873134613, -0.008476205170154572, -0.004392138682305813, 0.0, 0.0, -0.13874022662639618, 0.0, 0.0, 0.0, -0.12352301925420761, 0.0, 0.0, 0.0, -0.08567004650831223, 0.0, 0.0, -9.974043813087974e-09, 0.0, -0.11882787942886353, 0.0, 0.0, 0.8882707953453064, -0.8588375449180603, -0.23326095938682556, 0.8543314337730408, -2.156393527984619, -0.7657696604728699, 0.04860801622271538, 0.0, -0.2831994295120239, 0.0, -0.13279323279857635, 0.0, 0.0, -0.15384984016418457, 0.0, 0.0, 0.0, -0.10888978093862534, 0.0, 0.0, 0.0, -0.09803005307912827, 0.0, 0.0, -9.921212296148951e-09, -0.0028263390995562077, -0.11650606244802475, 0.0, 0.0, 0.5622998476028442, -1.1068999767303467, 0.5442000031471252, -0.0036583102773875, -1.4473869356663924e-19, -0.025049416348338127, -0.7537399530410767], "max": [1.3008157014846802, -0.6601870059967041, 9.065510738693283e-18, 1.5700000524520874, 0.11744540929794312, -0.2220437228679657, 0.5199999809265137, 1.5159718990325928, 0.0, 0.35213950276374817, 0.1665153056383133, 0.27955424785614014, 0.717075765132904, 0.08465830981731415, 0.5446690320968628, 0.5347354412078857, 0.8750025033950806, 0.06435862928628922, 0.4346681833267212, 0.3521192669868469, 0.7789857387542725, 0.09592519700527191, 0.3722304403781891, 0.44283491373062134, 0.15142033994197845, 0.18652980029582977, 0.04238077625632286, 0.8102296590805054, 1.3911774158477783, 1.2281489372253418, -0.47093212604522705, -0.0018461905419826508, 1.5666381120681763, 0.24326510727405548, -0.13767477869987488, 0.6563520431518555, 1.4660426378250122, 0.02396766096353531, 0.5160493850708008, 0.14416511356830597, 0.5185196399688721, 0.6795282959938049, 0.10374389588832855, 0.41995769739151, 0.5456537008285522, 0.5508425235748291, 0.14501243829727173, 0.7920398712158203, 0.43948692083358765, 0.6123709082603455, 0.14399310946464539, 0.3614659309387207, 0.43802574276924133, 0.03772590681910515, 0.05577525123953819, 0.08609545975923538, 0.442789226770401, 1.397338628768921, 0.5626999735832214, -1.106863021850586, 0.5575486421585083, -1.3121421300321481e-19, 0.011706538498401642, 0.11802774667739868, -0.587995707988739], "mean": [1.1219263076782227, -0.7595047950744629, -0.22126977145671844, 1.408828616142273, -0.7208279371261597, -0.3625994920730591, 0.1704198718070984, 1.2669315338134766, -0.1872464120388031, 0.21992653608322144, 0.08218856155872345, 0.20020809769630432, 0.45338088274002075, -0.003991920500993729, 0.3586544096469879, 0.4013243019580841, 0.5334667563438416, -0.0039297062903642654, 0.2978889048099518, 0.2637487053871155, 0.3984987139701843, 0.02995353564620018, 0.2352651059627533, 0.28765901923179626, 0.05838502570986748, 0.07816053926944733, -0.025987522676587105, 0.4682854413986206, 0.892884373664856, 1.1008723974227905, -0.6906095147132874, -0.21801038086414337, 1.2321581840515137, -0.5146317481994629, -0.36486080288887024, 0.44836917519569397, 1.1406304836273193, -0.12791867554187775, 0.3892976939678192, -0.000707763247191906, 0.27685752511024475, 0.4906017482280731, 0.023067327216267586, 0.31753379106521606, 0.42206212878227234, 0.3736066520214081, 0.06360986083745956, 0.5777089595794678, 0.3161199390888214, 0.28009507060050964, 0.0751776173710823, 0.2081981599330902, 0.25961440801620483, 0.002175866859033704, 0.01890876516699791, 0.02748444490134716, 0.2528534233570099, 0.9848268032073975, 0.5623116493225098, -1.1068685054779053, 0.5557203888893127, -0.002256943378597498, 0.006836754269897938, 0.03779182210564613, -0.6998487114906311], "std": [0.06692222505807877, 0.08038712292909622, 0.040313471108675, 0.10271091014146805, 0.3189685642719269, 0.10162097215652466, 0.19453339278697968, 0.34153321385383606, 0.07963245362043381, 0.1379304677248001, 0.031408876180648804, 0.051370587199926376, 0.22826920449733734, 0.07150398939847946, 0.1395435482263565, 0.1349606066942215, 0.3337027430534363, 0.054868947714567184, 0.11903424561023712, 0.0930207297205925, 0.32204684615135193, 0.0477527491748333, 0.1490677446126938, 0.17979635298252106, 0.03809371590614319, 0.07084544748067856, 0.04007880389690399, 0.3180682957172394, 0.5523911118507385, 0.08872301131486893, 0.07251197844743729, 0.03892361745238304, 0.1527910679578781, 0.7566708326339722, 0.19480881094932556, 0.1753644347190857, 0.3391965329647064, 0.09708811342716217, 0.11183718591928482, 0.08773559331893921, 0.14895358681678772, 0.2053673267364502, 0.07457767426967621, 0.10341882705688477, 0.1285814642906189, 0.17772287130355835, 0.06394150853157043, 0.1987113505601883, 0.07434535026550293, 0.2246447652578354, 0.05664274841547012, 0.12705324590206146, 0.16412267088890076, 0.006742152385413647, 0.015910936519503593, 0.05069003626704216, 0.12912572920322418, 0.46981680393218994, 7.03178156982176e-05, 7.620511041750433e-06, 0.0021334178745746613, 0.0005668777739629149, 0.0013986126286908984, 0.04144364595413208, 0.045366838574409485], "count": [683]}, "observation.state.tcp_pose": {"min": [0.32828590273857117, 0.13577905297279358, 0.9121346473693848, -1.2202469110488892, 1.2175711393356323, -1.3310141563415527, 0.35022804141044617, -0.2817433178424835, 0.8657403588294983, -0.9623538255691528, 1.1140410900115967, 0.6489384770393372], "max": [0.425532728433609, 0.26449406147003174, 1.0708539485931396, -0.12007845193147659, 2.1707847118377686, -0.6757559180259705, 0.44638723134994507, -0.11974333971738815, 1.0517158508300781, 1.381596326828003, 1.8305013179779053, 1.554966688156128], "mean": [0.3544138967990875, 0.20198757946491241, 0.9838901162147522, -0.4605388045310974, 1.875760793685913, -1.0095709562301636, 0.3805347979068756, -0.20997481048107147, 0.9818070530891418, 0.594679594039917, 1.486007809638977, 1.190641164779663], "std": [0.024953342974185944, 0.043351463973522186, 0.037754952907562256, 0.29152992367744446, 0.2519586384296417, 0.15378743410110474, 0.022051317617297173, 0.04769730567932129, 0.05049222335219383, 0.7561358213424683, 0.18941137194633484, 0.2493465095758438], "count": [683]}, "action.tcp_pose": {"min": [0.3283351957798004, 0.13582386076450348, 0.9121783971786499, -1.217350959777832, 1.2178406715393066, -1.3300403356552124, 0.3502506911754608, -0.2816101908683777, 0.8654664754867554, -0.9621932506561279, 1.1145315170288086, 0.6500990390777588], "max": [0.4251433312892914, 0.2645065486431122, 1.071622371673584, -0.12041649222373962, 2.171409845352173, -0.6754357218742371, 0.44638437032699585, -0.11965629458427429, 1.0510460138320923, 1.3818081617355347, 1.8304299116134644, 1.5554723739624023], "mean": [0.3544360101222992, 0.20209220051765442, 0.9839451909065247, -0.4600529670715332, 1.875588059425354, -1.0096639394760132, 0.3807585835456848, -0.21037542819976807, 0.9818477034568787, 0.602803647518158, 1.486436128616333, 1.1924034357070923], "std": [0.025028783828020096, 0.043392885476350784, 0.03787176311016083, 0.29079949855804443, 0.25200802087783813, 0.1533903181552887, 0.022239115089178085, 0.04770800843834877, 0.050457119941711426, 0.7512586116790771, 0.18895670771598816, 0.24759814143180847], "count": [683]}, "subtask_index": {"min": [0], "max": [4], "mean": [1.83601756954612], "std": [1.2860519719881884], "count": [683]}, "observation.tactile": {"min": [-2.408409595489502, -0.36894500255584717, -0.00011553661897778511, -0.06991538405418396, -0.018849918618798256, -0.02514125406742096, -0.1328831911087036, -0.0519748292863369, -9.712905739434063e-05, -0.025872966274619102, -0.004262125119566917, -0.0020957267843186855, -0.3542324900627136, -3.378580731805414e-05, -7.405945507343858e-05, -0.036867380142211914, -0.001824294333346188, -0.006469040177762508, -0.2637971043586731, -4.08064661314711e-05, -9.476654668105766e-05, -0.031611375510692596, -0.00025579117937013507, -0.00652586854994297, -0.010309477336704731, -4.782156247529201e-05, -0.00010804247722262517, -0.004654914140701294, -0.0001072171944542788, -0.00021910657233092934, -0.000594252604059875, -4.0535625885240734e-05, -9.075232082977891e-05, -0.06821596622467041, -1.1196801096957643e-05, -1.4015226952324156e-05, -0.015364211983978748, -3.454845500527881e-05, -7.514571188949049e-05, -0.0018362699775025249, -5.291428533382714e-05, -0.00033631970291025937, -0.9839097261428833, -4.604482091963291e-05, -0.00010614915663609281, -0.023354003205895424, -0.001537094358354807, -0.010750976391136646, -0.007824799045920372, -4.764413824887015e-05, -0.00010651390766724944, -0.001004756661131978, -0.00016398154548369348, -0.00011933743371628225, -0.16933490335941315, -0.6086629033088684, -0.3267400562763214, -0.06275453418493271, -0.0031403263565152884, -0.0028774146921932697], "max": [0.0003983606584370136, 1.9021881818771362, 5.936936855316162, 2.178833710786421e-06, 6.882505840621889e-05, 1.174012777482858e-05, 0.4279494881629944, 0.5778185725212097, 1.9022351503372192, 1.8233565697300946e-06, 0.0006552110426127911, 0.006994976662099361, 0.6032854914665222, 1.378124713897705, 2.6073861122131348, 1.3621454399981303e-06, 0.0027884370647370815, 0.00794871337711811, 0.2766006886959076, 1.1578489542007446, 1.6760005950927734, 1.742471567922621e-06, 0.004248445387929678, 0.004191207699477673, 0.37258702516555786, 0.07456314563751221, 0.22528980672359467, 2.0035672605445143e-06, 0.002125686500221491, 0.0071659451350569725, 4.812498569488525, 3.3090286254882812, 6.188861846923828, 1.7458302181694307e-06, 0.017312876880168915, 0.04889851063489914, 0.012231490574777126, 0.029781524091959, 0.08446268737316132, 1.3488810282069608e-06, 0.00031828999635763466, 0.00016516196774318814, 0.2301732897758484, 1.0394620895385742, 2.5629966259002686, 1.947146984093706e-06, 0.004717179574072361, 0.003221325809136033, 0.014639828354120255, 0.0156929362565279, 0.05084386095404625, 1.9548210730135906e-06, 0.0002824536059051752, 0.00020453473553061485, 5.726540565490723, 6.180747985839844, 3.725106954574585, 0.01075897179543972, 0.013634302653372288, 0.06776885688304901], "mean": [-1.00429105758667, 0.8052926063537598, 2.4545578956604004, -0.028215790167450905, -0.007911688648164272, -0.00877929013222456, 0.061786066740751266, 0.05619007721543312, 0.27334803342819214, -0.00400595273822546, -0.0006130984984338284, 0.0010162112303078175, 0.09673134982585907, 0.4701680541038513, 1.1037794351577759, -0.01573670655488968, 0.0001391053810948506, 0.0008177902200259268, 0.04538493975996971, 0.3109950125217438, 0.4970889985561371, -0.009436787106096745, 0.0007393336854875088, 0.00040372481453232467, 0.03789972513914108, 0.011674268171191216, 0.02824227511882782, -0.0005244738422334194, 0.00017354598094243556, 0.0006447176565416157, 1.6218054294586182, 0.9712501168251038, 2.0112335681915283, -0.02172255516052246, 0.004345851019024849, 0.015537207946181297, -0.0015454592648893595, 0.006511264480650425, 0.018812572583556175, -0.0003891892556566745, 2.0077677618246526e-05, -3.8048281567171216e-05, -0.16600726544857025, 0.1820913702249527, 0.5052191019058228, -0.0046097030863165855, 0.0005058261449448764, -0.0016740739811211824, 0.0001009939078358002, 0.0015297376085072756, 0.0046171448193490505, -8.893029007595032e-05, 8.540281669411343e-06, -1.0221166135693238e-08, 0.23237282037734985, 0.21349698305130005, 0.10499727725982666, -0.0016975083854049444, 0.00031317787943407893, 0.003429605858400464], "std": [0.9814602136611938, 0.8338158130645752, 2.4822118282318115, 0.0286723580211401, 0.008151782676577568, 0.008659946732223034, 0.10157763212919235, 0.07682093977928162, 0.3550941050052643, 0.005288820713758469, 0.0009487501229159534, 0.0016547029372304678, 0.19155888259410858, 0.48549073934555054, 1.1161338090896606, 0.015854937955737114, 0.0007454778533428907, 0.0025205048732459545, 0.09400962293148041, 0.404790461063385, 0.6157975792884827, 0.011596211232244968, 0.000993800233118236, 0.0016475131269544363, 0.06141652539372444, 0.012849639169871807, 0.029979582875967026, 0.0005863552214577794, 0.00027337769279256463, 0.001123693073168397, 1.7977575063705444, 1.2356771230697632, 2.28261399269104, 0.024798214435577393, 0.005497758276760578, 0.017206532880663872, 0.002532121492549777, 0.006026489660143852, 0.01738390140235424, 0.0003805394226219505, 4.0834926039678976e-05, 5.0550876039778814e-05, 0.31563451886177063, 0.279670774936676, 0.7546659708023071, 0.006843357812613249, 0.001365181291475892, 0.0033868327736854553, 0.001649803132750094, 0.0027384713757783175, 0.008345702663064003, 0.00016329502977896482, 4.368121881270781e-05, 2.2351368897943757e-05, 0.8659014105796814, 0.9212152361869812, 0.4597250521183014, 0.007713930681347847, 0.0015615352895110846, 0.012107240967452526], "count": [683]}, "timestamp": {"min": [0.0], "max": [22.733333333333334], "mean": [11.366666666666667], "std": [6.572163519978282], "count": [683]}, "frame_index": {"min": [0], "max": [682], "mean": [341.0], "std": [197.1649055993485], "count": [683]}, "episode_index": {"min": [1], "max": [1], "mean": [1.0], "std": [0.0], "count": [683]}, "index": {"min": [760], "max": [1442], "mean": [1101.0], "std": [197.1649055993485], "count": [683]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [683]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5352787971496582]], [[0.5349124073982239]], [[0.5364471673965454]]], "std": [[[0.2794335186481476]], [[0.279480516910553]], [[0.2800578474998474]]], "count": [683]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.21343936026096344]], [[0.21564731001853943]], [[0.21259674429893494]]], "std": [[[0.1426737755537033]], [[0.1451023668050766]], [[0.14572688937187195]]], "count": [683]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2990531027317047]], [[0.3015271723270416]], [[0.30065807700157166]]], "std": [[[0.1696746051311493]], [[0.17255567014217377]], [[0.17162451148033142]]], "count": [683]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5332325100898743]], [[0.5331529378890991]], [[0.5344901084899902]]], "std": [[[0.2810666859149933]], [[0.28127390146255493]], [[0.2818390429019928]]], "count": [683]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.4901960790157318]], [[0.4901960790157318]], [[0.4901960790157318]]], "mean": [[[0.0015596902230754495]], [[0.0015596902230754495]], [[0.0015596902230754495]]], "std": [[[0.02152610756456852]], [[0.02152610756456852]], [[0.02152610756456852]]], "count": [683]}, "observation.images.tactile_raw": {"min": [[[0.08627451211214066]], [[0.08627451211214066]], [[0.08627451211214066]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5074158906936646]], [[0.5074158906936646]], [[0.5074158906936646]]], "std": [[[0.2363937944173813]], [[0.2363937944173813]], [[0.2363937944173813]]], "count": [683]}}}
+{"episode_index": 2, "stats": {"observation.state": {"min": [1.0048413276672363, -0.8941609859466553, -0.23087729513645172, 1.111515998840332, -1.0183932781219482, -0.7682088613510132, -0.024406474083662033, 0.010515944100916386, -0.2893495261669159, -0.0092025650665164, -0.06056377664208412, 0.014085719361901283, 0.014232638292014599, -0.1391628086566925, 0.014819309115409851, 0.012760823592543602, 0.012209041975438595, -0.12469789385795593, 0.02156805992126465, 0.012697857804596424, -0.010601007379591465, -0.04850572720170021, 0.014303421601653099, 0.007813997566699982, 0.03673328831791878, -0.009394797496497631, -0.03710107132792473, 0.010492579080164433, 0.0028520962223410606, 0.9172099828720093, -0.8964457511901855, -0.23347535729408264, 1.0048812627792358, -2.262885332107544, -0.7669679522514343, -0.002834269078448415, 0.01971619762480259, -0.27819791436195374, 0.03187950700521469, -0.13306814432144165, 0.022384973242878914, 0.003186876652762294, -0.14052431285381317, 0.012918498367071152, 0.010855435393750668, 0.021198825910687447, -0.0354454480111599, 0.015180610120296478, 0.010782714933156967, 0.0008895091013982892, -0.021977698430418968, 0.014420781284570694, 0.00997878797352314, 0.03727060183882713, -0.012286561541259289, -0.021403416991233826, 0.0221771989017725, 0.0026875862386077642, 0.5621080994606018, -1.1069588661193848, 0.5443714261054993, -0.002972087822854519, 0.0001917476038215682, -0.019462380558252335, -0.7670862674713135], "max": [1.3060081005096436, -0.6292575597763062, -0.0007432615966536105, 1.5698161125183105, 0.11085048317909241, -0.25394776463508606, 0.5196595788002014, 1.4010465145111084, -0.0043772622011601925, 0.28361597657203674, 0.13940122723579407, 0.1749955713748932, 0.6864212155342102, 0.061542946845293045, 0.47478094696998596, 0.5554297566413879, 0.7370030879974365, 0.06142154708504677, 0.43007588386535645, 0.34360620379447937, 0.7055180072784424, 0.06191559508442879, 0.350015252828598, 0.43042615056037903, 0.21254336833953857, 0.17409014701843262, 0.01817091554403305, 0.9268631339073181, 1.3453831672668457, 1.2498599290847778, -0.5637561082839966, -0.0018712168093770742, 1.5679020881652832, 0.22231672704219818, -0.1379464566707611, 0.658620297908783, 1.493747353553772, 0.012894918210804462, 0.3391242027282715, 0.13184912502765656, 0.6280804872512817, 0.6323174238204956, 0.14165939390659332, 0.378426730632782, 0.4788084924221039, 0.5279330611228943, 0.16157470643520355, 0.8035855889320374, 0.43551310896873474, 0.6702582240104675, 0.1540602594614029, 0.3143610954284668, 0.35660114884376526, 0.037971679121255875, 0.14705948531627655, 0.1252633035182953, 0.691290557384491, 1.2921804189682007, 0.5627791881561279, -1.106767177581787, 0.5566433072090149, 0.0, 0.008724515326321125, 0.1414138525724411, -0.6004576086997986], "mean": [1.1142240762710571, -0.7504050731658936, -0.22274330258369446, 1.3815672397613525, -0.693199872970581, -0.3454122841358185, 0.22704313695430756, 1.2129809856414795, -0.2311791628599167, 0.13361482322216034, 0.07521425187587738, 0.16875821352005005, 0.4257085621356964, -0.0238848514854908, 0.3570888936519623, 0.46079424023628235, 0.4890860319137573, -0.020284608006477356, 0.34318989515304565, 0.2944382429122925, 0.35861724615097046, 0.013733009807765484, 0.2302165925502777, 0.28295889496803284, 0.11626250296831131, 0.08105339854955673, -0.009847537614405155, 0.5782156586647034, 0.8160685300827026, 1.142758846282959, -0.7256170511245728, -0.22094666957855225, 1.3042856454849243, -0.7526570558547974, -0.35436227917671204, 0.384247750043869, 1.234281301498413, -0.1475697010755539, 0.23001578450202942, -0.027326328679919243, 0.36922702193260193, 0.5004323720932007, 0.044440142810344696, 0.31834402680397034, 0.4149520695209503, 0.3757841885089874, 0.07978349179029465, 0.6072047352790833, 0.30162593722343445, 0.3824407160282135, 0.09214169532060623, 0.22698526084423065, 0.2567429542541504, 0.03750145062804222, 0.05255179852247238, 0.05242748558521271, 0.43922948837280273, 1.1586602926254272, 0.5623059868812561, -1.1068702936172485, 0.555766761302948, -0.002306838985532522, 0.0068481056950986385, 0.04737129434943199, -0.7340771555900574], "std": [0.06277433782815933, 0.07757876813411713, 0.036113083362579346, 0.12792155146598816, 0.2851305603981018, 0.08452974259853363, 0.1788421869277954, 0.26034486293792725, 0.05037634074687958, 0.07120425254106522, 0.04520978033542633, 0.026719164103269577, 0.19490188360214233, 0.06829959154129028, 0.11147873848676682, 0.12724314630031586, 0.23565801978111267, 0.061235446482896805, 0.0837974101305008, 0.06151951476931572, 0.2852591574192047, 0.04032724350690842, 0.13084425032138824, 0.16255977749824524, 0.05203191190958023, 0.07033330947160721, 0.02160799689590931, 0.3633359968662262, 0.4468306303024292, 0.09821384400129318, 0.07347572594881058, 0.03662852942943573, 0.15554864704608917, 0.7821143269538879, 0.1429949253797531, 0.23846136033535004, 0.3048868477344513, 0.06708256900310516, 0.05617503821849823, 0.09423463046550751, 0.2093878835439682, 0.1469668298959732, 0.08316546678543091, 0.0699094831943512, 0.09038575738668442, 0.14089909195899963, 0.056038737297058105, 0.17741034924983978, 0.061791788786649704, 0.2617698013782501, 0.04528044909238815, 0.10282035917043686, 0.11955537647008896, 0.0001134891645051539, 0.049533236771821976, 0.04460934177041054, 0.21510568261146545, 0.2512282729148865, 6.956102879485115e-05, 1.5168745449045673e-05, 0.0017423857934772968, 0.0004992441972717643, 0.0010492079891264439, 0.047490790486335754, 0.03839626535773277], "count": [735]}, "observation.state.joint_torque": {"min": [-32.61899948120117, -30.56100082397461, -17.53700065612793, -20.20800018310547, -0.3824000060558319, -3.8480000495910645, 0.9399999976158142, -0.7806723713874817, -0.4495551884174347, -0.5355991721153259, -0.7145465612411499, -0.10127562284469604, -0.4643807113170624, -0.6466788649559021, -0.1145576685667038, -0.03567514568567276, -0.3722721040248871, -0.6274896264076233, -0.13614100217819214, -0.01783757284283638, -0.3837856948375702, -0.3550017774105072, -0.12617947161197662, -0.02497260272502899, -0.08532141149044037, -0.3981776535511017, -0.5171512365341187, -0.15606407821178436, -0.1212955042719841, 14.257499694824219, -24.166500091552734, 4.046999931335449, -14.031999588012695, -2.7423999309539795, -3.033600091934204, -3.913599967956543, -1.1461747884750366, -0.7360989451408386, -0.29824548959732056, -0.38026300072669983, -0.09297433495521545, -0.3674747943878174, -0.4087317883968353, -0.07305127382278442, -0.016410568729043007, -0.3386908769607544, -0.42312371730804443, -0.09297433495521545, -0.012843053787946701, -0.2676905393600464, -0.6054219603538513, -0.12783971428871155, -0.02354559674859047, -0.05629453808069229, -0.4068128168582916, -0.5488135814666748, -0.13116022944450378, -0.13271154463291168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.051000595092773, 20.628000259399414, -10.343000411987305, 9.223999977111816, 2.5383999347686768, 2.0887999534606934, 3.3296000957489014, 0.7488341331481934, 1.1512688398361206, 0.9543856382369995, 0.9767539501190186, 0.0796922892332077, 0.7061656713485718, 0.4260021448135376, 0.16602559387683868, 0.04209667816758156, 0.729192852973938, 0.39625871181488037, 0.15440380573272705, 0.02425910159945488, 0.35883963108062744, 0.3386908769607544, 0.14278201758861542, 0.03139413148164749, 0.05145672708749771, 0.3290962278842926, 0.2935960590839386, 0.1776474118232727, 0.12200900912284851, 46.196998596191406, 22.18950080871582, 23.85300064086914, 8.133999824523926, 0.7527999877929688, 2.8815999031066895, 1.2848000526428223, 1.349939227104187, 1.9765146970748901, 0.6822365522384644, 0.8089909553527832, 0.330390989780426, 0.8875043988227844, 0.493164598941803, 0.14610254764556885, 0.021405089646577835, 0.8903828263282776, 0.2792041003704071, 0.19258970022201538, 0.02996712550520897, 0.7608551383018494, 0.24946069717407227, 0.16436536610126495, 0.02497260272502899, -0.021110452711582184, 0.33485302329063416, 0.49412408471107483, 0.12285894900560379, 0.08847437053918839, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-26.21086311340332, 2.3891615867614746, -13.339540481567383, -3.4703891277313232, 0.3237811326980591, 0.8353349566459656, 2.01871919631958, -0.01192442700266838, 0.4439086616039276, 0.3526194095611572, 0.3053668439388275, 0.04169845208525658, 0.28330209851264954, 0.041237324476242065, 0.040399570018053055, 0.007086486089974642, 0.25159522891044617, -0.013801936991512775, 0.028854582458734512, 0.008778511546552181, 0.09221687912940979, 0.06249307096004486, 0.012387576512992382, 0.007489339914172888, -0.02290973998606205, 0.10172010958194733, -0.024608025327324867, 0.02343558520078659, 0.006518603302538395, 26.313777923583984, 3.058446168899536, 12.950704574584961, -2.6201884746551514, -0.23363469541072845, 0.8487943410873413, -1.3216742277145386, 0.17155195772647858, 0.7049750685691833, 0.2477937936782837, 0.0016568585997447371, 0.08936247229576111, 0.29069405794143677, 0.057253167033195496, 0.03632914647459984, -0.0009125128271989524, 0.27666884660720825, -0.040207426995038986, 0.051323357969522476, 0.01620958372950554, 0.149250790476799, -0.06576837599277496, 0.01877105049788952, 0.0035927528515458107, -0.05278818681836128, 0.003922683652490377, 0.006888574454933405, 0.011694085784256458, 0.012551825493574142, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.4993449449539185, 2.354738473892212, 1.0631473064422607, 1.4831857681274414, 0.30399084091186523, 0.547541081905365, 0.4655613899230957, 0.2826049029827118, 0.5331196188926697, 0.43336573243141174, 0.45119422674179077, 0.023852840065956116, 0.30417144298553467, 0.19355718791484833, 0.050663381814956665, 0.009140570648014545, 0.30532047152519226, 0.16607147455215454, 0.05721888691186905, 0.008756848983466625, 0.16200876235961914, 0.12162531912326813, 0.04682198911905289, 0.010467580519616604, 0.024152999743819237, 0.17992442846298218, 0.06659950315952301, 0.057453833520412445, 0.013072110712528229, 1.8109946250915527, 2.3257594108581543, 1.654227614402771, 1.367695927619934, 0.39221540093421936, 1.1103101968765259, 1.114194631576538, 0.6498013138771057, 0.7729640007019043, 0.3045095205307007, 0.2512156069278717, 0.12190374732017517, 0.3438897728919983, 0.17506256699562073, 0.037091903388500214, 0.01027249451726675, 0.33345121145248413, 0.13653455674648285, 0.05874277651309967, 0.008634242229163647, 0.2979382276535034, 0.17160166800022125, 0.07931109517812729, 0.012362667359411716, 0.008057610131800175, 0.16981357336044312, 0.22033604979515076, 0.05773567408323288, 0.012129000388085842, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [735]}, "observation.state.tcp": {"min": [0.33092543482780457, 0.141654372215271, 0.9187807440757751, -1.2235584259033203, 1.218953251838684, -1.4240490198135376, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.34324610233306885, -0.2735074758529663, 0.8857489228248596, -1.091505527496338, 1.1427572965621948, 0.5788915753364563, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.41916316747665405, 0.28783631324768066, 1.0714237689971924, -0.13760899007320404, 2.1139304637908936, -0.8098713755607605, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4313551187515259, -0.09867819398641586, 1.0619900226593018, 1.2249243259429932, 1.8467978239059448, 1.5132122039794922, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.35623878240585327, 0.20300568640232086, 0.9803928732872009, -0.46717795729637146, 1.8613437414169312, -1.0650477409362793, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3768852949142456, -0.2043411135673523, 1.0026535987854004, 0.34696638584136963, 1.5188254117965698, 1.1098378896713257, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.020849861204624176, 0.04407308250665665, 0.0356617197394371, 0.27101001143455505, 0.2101685106754303, 0.1302342712879181, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.02117793820798397, 0.059207815676927567, 0.051620207726955414, 0.7654842138290405, 0.20302742719650269, 0.2964794337749481, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [735]}, "action": {"min": [1.004853367805481, -0.894214928150177, -0.23086410760879517, 1.1114649772644043, -1.01837158203125, -0.7699999809265137, -0.024447819218039513, 0.0, -0.2929673194885254, 0.0, -0.05592205375432968, 0.0, 0.0, -0.15014824271202087, 0.0, 0.0, 0.0, -0.12706178426742554, 0.0, 0.0, 0.0, -0.12036777287721634, 0.0, 0.0, -9.938693423805489e-09, -0.005441482178866863, -0.12674373388290405, 0.0, 0.0, 0.917224645614624, -0.8966118097305298, -0.233452707529068, 1.004853367805481, -2.262909412384033, -0.7657057046890259, -0.002972087822854519, 0.0, -0.2778457999229431, 0.0, -0.1424117386341095, 0.0, 0.0, -0.15084056556224823, 0.0, 0.0, 0.0, -0.041255269199609756, 0.0, 0.0, 0.0, -0.03382094204425812, 0.0, 0.0, -9.966776737257987e-09, -0.0004624173743650317, -0.050283998250961304, 0.0, 0.0, 0.5622998476028442, -1.1068999767303467, 0.5442000031471252, -0.003277158597484231, -1.2323975762838204e-18, -0.01942398026585579, -0.7678911685943604], "max": [1.3059929609298706, -0.6292197704315186, -2.087349123542091e-18, 1.5700000524520874, 0.11083011329174042, -0.25368207693099976, 0.5199999809265137, 1.4363770484924316, 0.0, 0.2954227328300476, 0.13678842782974243, 0.19426339864730835, 0.6939262747764587, 0.07226960361003876, 0.5165367126464844, 0.5782245397567749, 0.8028771281242371, 0.05737007409334183, 0.44522571563720703, 0.3579219877719879, 0.717618465423584, 0.06885534524917603, 0.362286239862442, 0.4467625916004181, 0.22448354959487915, 0.1898547261953354, 0.01933436095714569, 0.9442406296730042, 1.3667832612991333, 1.2498109340667725, -0.5637379288673401, -0.0017694166162982583, 1.568698763847351, 0.22234709560871124, -0.13729128241539001, 0.6586530208587646, 1.5582257509231567, 0.03327665477991104, 0.3382326364517212, 0.13747818768024445, 0.7023490071296692, 0.6757272481918335, 0.14666171371936798, 0.4155583679676056, 0.491592139005661, 0.5660852193832397, 0.15713149309158325, 0.8521450161933899, 0.45365098118782043, 0.7589896321296692, 0.15322579443454742, 0.35578787326812744, 0.38061144948005676, 0.023786157369613647, 0.1550174206495285, 0.12819959223270416, 0.7089092135429382, 1.386609435081482, 0.5626999735832214, -1.106863021850586, 0.5572090744972229, 1.3448683677450723e-19, 0.009874623268842697, 0.14177194237709045, -0.6000000238418579], "mean": [1.1143838167190552, -0.7506846189498901, -0.2227589339017868, 1.3817124366760254, -0.6933417320251465, -0.3455682396888733, 0.2271226942539215, 1.2040538787841797, -0.2071221023797989, 0.1769898682832718, 0.08628328144550323, 0.17789366841316223, 0.453573614358902, -0.021487360820174217, 0.3635982573032379, 0.46323251724243164, 0.5146050453186035, -0.02063872292637825, 0.347075879573822, 0.3004455268383026, 0.3621279001235962, 0.007726690731942654, 0.231957346200943, 0.2889081537723541, 0.10254795104265213, 0.08594682067632675, -0.030389655381441116, 0.5811899900436401, 0.8123289346694946, 1.1429873704910278, -0.7258744835853577, -0.22093205153942108, 1.3042489290237427, -0.7468692660331726, -0.3543303906917572, 0.3844289779663086, 1.238241195678711, -0.11103325337171555, 0.26103532314300537, -0.027654847130179405, 0.39121654629707336, 0.5376101732254028, 0.04821382835507393, 0.3273361623287201, 0.41289737820625305, 0.4109666347503662, 0.07807140052318573, 0.6180089712142944, 0.3175802528858185, 0.40454187989234924, 0.08840420097112656, 0.23296701908111572, 0.2615484893321991, 0.001978882122784853, 0.05189727619290352, 0.05218459293246269, 0.44321903586387634, 1.197059154510498, 0.5623079538345337, -1.106868863105774, 0.5558069944381714, -0.002352770185098052, 0.0068877143785357475, 0.04743874445557594, -0.7341333627700806], "std": [0.06307503581047058, 0.07780517637729645, 0.03609275817871094, 0.12783946096897125, 0.2847573757171631, 0.08497742563486099, 0.17882226407527924, 0.29167643189430237, 0.06915420293807983, 0.10896207392215729, 0.046517252922058105, 0.037527117878198624, 0.22104355692863464, 0.07303249835968018, 0.12769626080989838, 0.1420937180519104, 0.2701154351234436, 0.06182269752025604, 0.10141005367040634, 0.07593183219432831, 0.29350966215133667, 0.058170951902866364, 0.13585104048252106, 0.1718142032623291, 0.06353214383125305, 0.07769551873207092, 0.04772138595581055, 0.3781263530254364, 0.4630388021469116, 0.09796887636184692, 0.07349454611539841, 0.036667995154857635, 0.15529191493988037, 0.7782779335975647, 0.14326947927474976, 0.23821040987968445, 0.33204835653305054, 0.09722748398780823, 0.06617642939090729, 0.09619420766830444, 0.23718981444835663, 0.17793875932693481, 0.0858205109834671, 0.08461692184209824, 0.101225346326828, 0.17045828700065613, 0.05590420588850975, 0.19299079477787018, 0.07352767884731293, 0.2879169285297394, 0.04591258615255356, 0.11455975472927094, 0.1270035058259964, 0.0055153872817754745, 0.04901096224784851, 0.04894240200519562, 0.21781836450099945, 0.28763681650161743, 6.194373418111354e-05, 7.394803560600849e-06, 0.0018806937150657177, 0.000521980575285852, 0.0011896372307091951, 0.047523025423288345, 0.03856731951236725], "count": [735]}, "observation.state.tcp_pose": {"min": [0.33092543482780457, 0.141654372215271, 0.9187807440757751, -1.2235584259033203, 1.218953251838684, -1.4240490198135376, 0.34324610233306885, -0.2735074758529663, 0.8857489228248596, -1.091505527496338, 1.1427572965621948, 0.5788915753364563], "max": [0.41916316747665405, 0.28783631324768066, 1.0714237689971924, -0.13760899007320404, 2.1139304637908936, -0.8098713755607605, 0.4313551187515259, -0.09867819398641586, 1.0619900226593018, 1.2249243259429932, 1.8467978239059448, 1.5132122039794922], "mean": [0.35623878240585327, 0.20300568640232086, 0.9803928732872009, -0.46717795729637146, 1.8613437414169312, -1.0650477409362793, 0.3768852949142456, -0.2043411135673523, 1.0026535987854004, 0.34696638584136963, 1.5188254117965698, 1.1098378896713257], "std": [0.020849861204624176, 0.04407308250665665, 0.0356617197394371, 0.27101001143455505, 0.2101685106754303, 0.1302342712879181, 0.02117793820798397, 0.059207815676927567, 0.051620207726955414, 0.7654842138290405, 0.20302742719650269, 0.2964794337749481], "count": [735]}, "action.tcp_pose": {"min": [0.33096033334732056, 0.1417054831981659, 0.9189174771308899, -1.218070149421692, 1.2178406715393066, -1.4237440824508667, 0.3432891070842743, -0.2731643319129944, 0.8857662677764893, -1.091647982597351, 1.142722487449646, 0.5787670612335205], "max": [0.41926848888397217, 0.28822124004364014, 1.0723133087158203, -0.13771912455558777, 2.1140332221984863, -0.8098491430282593, 0.4311988651752472, -0.09866882860660553, 1.062719702720642, 1.2221401929855347, 1.8467895984649658, 1.5115958452224731], "mean": [0.3562455475330353, 0.20312446355819702, 0.98045814037323, -0.467070609331131, 1.861122727394104, -1.0649611949920654, 0.3771156370639801, -0.20464405417442322, 1.0027161836624146, 0.3528335988521576, 1.5199540853500366, 1.110998511314392], "std": [0.020902417600154877, 0.04410351812839508, 0.03584670275449753, 0.27035778760910034, 0.21038247644901276, 0.1299370974302292, 0.021268395707011223, 0.05919303745031357, 0.05148323252797127, 0.7617577314376831, 0.20200489461421967, 0.2949969470500946], "count": [735]}, "subtask_index": {"min": [0], "max": [4], "mean": [1.892517006802721], "std": [1.2391070097790418], "count": [735]}, "observation.tactile": {"min": [-2.4679293632507324, -0.005719958804547787, -0.00010825470235431567, -0.05213833972811699, -0.01074992585927248, -0.027420008555054665, -0.09471350163221359, -3.7631045415764675e-05, -8.464207348879427e-05, -0.03245028480887413, -0.005373475141823292, -0.0017040146049112082, -0.2605876624584198, -3.0322957172757015e-05, -6.442041194532067e-05, -0.02995193377137184, -0.0045055425725877285, -0.005245267413556576, -0.005405024159699678, -3.615838795667514e-05, -8.232873369706795e-05, -0.0038315460551530123, -7.209275645436719e-05, -0.00010640964319463819, -0.00618369784206152, -4.519922367762774e-05, -0.00010316584666725248, -0.0019592635799199343, -7.244902371894568e-05, -0.00014552225184161216, -0.0018705729162320495, -3.5079268855042756e-05, -8.047866867855191e-05, -0.15583235025405884, -1.4029360499989707e-06, -0.0008526503806933761, -0.01463528536260128, -3.0471790523733944e-05, -6.621934880968183e-05, -0.0014647496864199638, -4.199462273390964e-05, -0.00018751654715742916, -0.8137401938438416, -4.07239785999991e-05, -9.180928464047611e-05, -0.030083810910582542, -0.002953513292595744, -0.01253177598118782, -0.9563841223716736, -4.6162225771695375e-05, -0.00010541745723458007, -0.01902255043387413, -0.0015062348684296012, -0.010686025023460388, -0.009770844131708145, -5.4597265261691064e-05, -0.0001251505163963884, -0.0009768115123733878, -0.00010502355871722102, -0.0001859409676399082], "max": [0.0021050828509032726, 0.9912287592887878, 4.4651336669921875, 1.9708129457285395e-06, 0.00017105716688092798, 1.944865107361693e-05, 1.1942445039749146, 0.9113495349884033, 2.274143934249878, 1.5435205114044948e-06, 0.001556199393235147, 0.019953632727265358, 1.3861157894134521, 2.091249942779541, 2.2518723011016846, 1.1468405318737496e-06, 0.004152665846049786, 0.02073672227561474, 0.02488582767546177, 0.07588604837656021, 0.20397131145000458, 1.4957923895053682e-06, 0.0003813724615611136, 0.00036193314008414745, 0.1260979175567627, 0.04591734707355499, 0.1223527118563652, 1.932469331222819e-06, 0.000810487603303045, 0.0017589895287528634, 8.249995231628418, 9.23479175567627, 12.31617259979248, 1.5529694792348891e-06, 0.03702864050865173, 0.08949654549360275, 0.041673384606838226, 0.02090931311249733, 0.07110176980495453, 1.1750122439480037e-06, 0.0003688011784106493, 0.0007924510282464325, 0.26009151339530945, 1.2784675359725952, 2.254894733428955, 1.6760543530836003e-06, 0.003503845538944006, 0.0052445330657064915, 0.02751254290342331, 0.6387687921524048, 1.9671152830123901, 1.975233544726507e-06, 0.003830145811662078, 0.0006209526327438653, 0.008277464658021927, 0.015858903527259827, 0.0448465570807457, 2.3071179384714924e-06, 0.00018858365365304053, 0.00013024026702623814], "mean": [-0.9551296234130859, 0.4212970435619354, 1.814956545829773, -0.020774731412529945, -0.004307599738240242, -0.009945632889866829, 0.060875121504068375, 0.14377440512180328, 0.4634332060813904, -0.0062982444651424885, 0.00010203936835750937, 0.0008157650590874255, 0.15866103768348694, 0.394149512052536, 0.7506603598594666, -0.009729198180139065, 0.0005855750641785562, 0.0017216270789504051, 0.00015919783618301153, 0.0010114727774634957, 0.0028129476122558117, -5.421032983576879e-05, 1.3489543562172912e-06, 2.3199193037726218e-06, 0.015817468985915184, 0.008143859915435314, 0.022914161905646324, -0.00038509778096340597, 0.0001378783636027947, 0.00021219269547145814, 2.9536936283111572, 2.893958568572998, 4.9386162757873535, -0.05899525806307793, 0.013740399852395058, 0.027087239548563957, 0.0008501134580001235, 0.0031372567173093557, 0.009531214833259583, -0.000190044374903664, 3.123734859400429e-05, 6.516227131214691e-06, -0.19443948566913605, 0.34791070222854614, 0.7581481337547302, -0.010201012715697289, 0.0005557656404562294, -0.0028095655143260956, -0.1359105110168457, 0.11659415811300278, 0.41408658027648926, -0.003896275768056512, 0.00028762785950675607, -0.0013664524303749204, -3.0013155992492102e-05, 0.0014523239806294441, 0.004232416860759258, -8.662542677484453e-05, 7.71745453675976e-06, -3.3470228117948864e-06], "std": [0.9898539781570435, 0.4374203383922577, 1.9364991188049316, 0.02240873873233795, 0.0045923395082354546, 0.010516064241528511, 0.13270331919193268, 0.1925898939371109, 0.5911971926689148, 0.008285796269774437, 0.0008444733102805912, 0.002038746140897274, 0.2473999261856079, 0.47574582695961, 0.8543807864189148, 0.010701671242713928, 0.0010837930021807551, 0.0032017191406339407, 0.0017461285460740328, 0.006331912707537413, 0.01726456545293331, 0.0003262658428866416, 3.084210766246542e-05, 2.6478013751329854e-05, 0.027430467307567596, 0.011311177164316177, 0.031170057132840157, 0.0005086103337816894, 0.00020914826018270105, 0.00037798125413246453, 2.9241297245025635, 3.156428813934326, 4.917449474334717, 0.05983128026127815, 0.014130682684481144, 0.028005650267004967, 0.003899962641298771, 0.004278159700334072, 0.013165220618247986, 0.0002704647777136415, 5.573762609856203e-05, 6.765177386114374e-05, 0.25340914726257324, 0.3820159137248993, 0.7892354130744934, 0.010506167076528072, 0.001068766345269978, 0.0038529743906110525, 0.23780567944049835, 0.18596071004867554, 0.6470662355422974, 0.006103071384131908, 0.0010119876824319363, 0.002521767048165202, 0.0010409599635750055, 0.0028664027340710163, 0.008277622982859612, 0.00017490862228441983, 2.4612218112451956e-05, 2.2935584638617e-05], "count": [735]}, "timestamp": {"min": [0.0], "max": [24.466666666666665], "mean": [12.233333333333333], "std": [7.0725342516484675], "count": [735]}, "frame_index": {"min": [0], "max": [734], "mean": [367.0], "std": [212.176027549454], "count": [735]}, "episode_index": {"min": [2], "max": [2], "mean": [2.0], "std": [0.0], "count": [735]}, "index": {"min": [1443], "max": [2177], "mean": [1810.0], "std": [212.176027549454], "count": [735]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [735]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5369590520858765]], [[0.5365017056465149]], [[0.5380251407623291]]], "std": [[[0.2843470573425293]], [[0.2843586206436157]], [[0.28488126397132874]]], "count": [735]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.21636289358139038]], [[0.21883589029312134]], [[0.21575111150741577]]], "std": [[[0.14427423477172852]], [[0.14679569005966187]], [[0.14731034636497498]]], "count": [735]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29810258746147156]], [[0.3001709282398224]], [[0.300227552652359]]], "std": [[[0.1686933934688568]], [[0.17142215371131897]], [[0.17108756303787231]]], "count": [735]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5357092618942261]], [[0.5355635285377502]], [[0.5368760228157043]]], "std": [[[0.2865738570690155]], [[0.2866916060447693]], [[0.28718701004981995]]], "count": [735]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5137255191802979]], [[0.5137255191802979]], [[0.5137255191802979]]], "mean": [[[0.0018593036802485585]], [[0.0018593036802485585]], [[0.0018593036802485585]]], "std": [[[0.024018708616495132]], [[0.024018708616495132]], [[0.024018708616495132]]], "count": [735]}, "observation.images.tactile_raw": {"min": [[[0.0784313753247261]], [[0.0784313753247261]], [[0.0784313753247261]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5072758793830872]], [[0.5072758793830872]], [[0.5072758793830872]]], "std": [[[0.23644350469112396]], [[0.23644350469112396]], [[0.23644350469112396]]], "count": [735]}}}
+{"episode_index": 3, "stats": {"observation.state": {"min": [1.005220890045166, -0.9209128618240356, -0.23078691959381104, 0.9914324879646301, -1.0698740482330322, -0.7698779702186584, 0.0392661914229393, 0.009588890708982944, -0.2883561849594116, 0.019202521070837975, -0.029987363144755363, 0.010584056377410889, 0.026188025251030922, -0.13578753173351288, 0.011392814107239246, 0.012347997166216373, 0.008663269691169262, -0.1590065360069275, 0.017277849838137627, 0.009235168807208538, -0.007921195589005947, -0.03785565495491028, 0.014203434810042381, 0.0026476779021322727, 0.03668619319796562, -0.01031546201556921, -0.03921322897076607, 0.014502684585750103, 0.002617968712002039, 0.9294801950454712, -0.8794852495193481, -0.23356056213378906, 0.8445646166801453, -2.305055856704712, -0.7695073485374451, -0.0365813672542572, 0.013617445714771748, -0.2842293381690979, 0.023710140958428383, -0.14615747332572937, 0.014850866049528122, 0.015214876271784306, -0.1551447957754135, 0.008557374589145184, 0.007040225435048342, 0.010747214779257774, -0.05693104490637779, 0.012360061518847942, 0.007080576848238707, -0.011149038560688496, -0.0186203271150589, 0.01383929792791605, 0.010318893939256668, 0.03710148483514786, -0.01563902385532856, -0.009193885140120983, 0.01074573677033186, -0.0011701929615810513, 0.5621080994606018, -1.1069588661193848, 0.5441796779632568, -0.0027803401462733746, 0.0, -0.01888713799417019, -0.7712088227272034], "max": [1.3050377368927002, -0.5743854641914368, -0.00016382435569539666, 1.5698280334472656, 0.13982103765010834, -0.23355001211166382, 0.5199733376502991, 1.3281461000442505, -0.003864319995045662, 0.2879275679588318, 0.14611977338790894, 0.2758995592594147, 0.718424916267395, 0.039372432976961136, 0.49789315462112427, 0.5255568027496338, 0.7253742218017578, 0.07526484876871109, 0.4188578724861145, 0.34751006960868835, 0.4970865249633789, 0.10797160863876343, 0.33504775166511536, 0.4157475531101227, 0.1266254335641861, 0.050897300243377686, -0.00032773989369161427, 0.7407392859458923, 1.2966803312301636, 1.2734311819076538, -0.4736654460430145, -0.00021535652922466397, 1.5697420835494995, 0.2175258994102478, -0.03275863826274872, 0.6294708251953125, 1.5205063819885254, 0.0072959186509251595, 0.4628726840019226, 0.1503821164369583, 0.493190199136734, 0.6712124943733215, 0.11773582547903061, 0.3898833692073822, 0.6163272261619568, 0.6275591254234314, 0.15541879832744598, 0.6408571004867554, 0.39246341586112976, 0.6830511093139648, 0.15380024909973145, 0.33601391315460205, 0.46579092741012573, 0.03862673416733742, 0.09559036046266556, 0.12337881326675415, 0.5749102234840393, 1.314835786819458, 0.5627791881561279, -1.106767177581787, 0.5566433072090149, 0.0, 0.009108010679483414, 0.1558907926082611, -0.5997864603996277], "mean": [1.0983883142471313, -0.7178966999053955, -0.22248555719852448, 1.3215937614440918, -0.742597222328186, -0.3853473961353302, 0.22293831408023834, 1.1802334785461426, -0.21801188588142395, 0.13544631004333496, 0.08843633532524109, 0.1811848282814026, 0.421799898147583, -0.032317228615283966, 0.3939184844493866, 0.4445140063762665, 0.4944227635860443, -0.023283250629901886, 0.3421614468097687, 0.2928731441497803, 0.24214407801628113, 0.0177832692861557, 0.212602436542511, 0.2593438923358917, 0.08669895678758621, 0.03077670745551586, -0.028467725962400436, 0.26576393842697144, 0.7055306434631348, 1.148661494255066, -0.6952353119850159, -0.2207898497581482, 1.2702184915542603, -0.7584344148635864, -0.33902254700660706, 0.36310574412345886, 1.230305552482605, -0.1630694568157196, 0.3095262050628662, -0.028752455487847328, 0.29033035039901733, 0.4860309064388275, 0.034915294498205185, 0.302868127822876, 0.5285883545875549, 0.45517122745513916, 0.07133850455284119, 0.4703693389892578, 0.2754169702529907, 0.3846801221370697, 0.08638156205415726, 0.22744491696357727, 0.3071136176586151, 0.037562426179647446, 0.033560626208782196, 0.052564892917871475, 0.3983381688594818, 0.9822565317153931, 0.562306821346283, -1.1068675518035889, 0.5557353496551514, -0.002257163170725107, 0.006848652381449938, 0.053707629442214966, -0.7117882966995239], "std": [0.06287641078233719, 0.09585270285606384, 0.03671032935380936, 0.14075222611427307, 0.3196994662284851, 0.1088627427816391, 0.14869746565818787, 0.25697654485702515, 0.055623609572649, 0.067181795835495, 0.02987479232251644, 0.0326799601316452, 0.1778605878353119, 0.048024535179138184, 0.1433151811361313, 0.14583200216293335, 0.2247409075498581, 0.055520933121442795, 0.10459699481725693, 0.07999356836080551, 0.17892788350582123, 0.03793741390109062, 0.11447813361883163, 0.1455540657043457, 0.03557935357093811, 0.01603906974196434, 0.009474382735788822, 0.21724125742912292, 0.5223935842514038, 0.10149449110031128, 0.07843063771724701, 0.036995258182287216, 0.18614286184310913, 0.8318807482719421, 0.1487783044576645, 0.23935715854167938, 0.3141510486602783, 0.06662224233150482, 0.0816517099738121, 0.08058825135231018, 0.14029452204704285, 0.17908412218093872, 0.06847620755434036, 0.07569927722215652, 0.12593060731887817, 0.18075577914714813, 0.05980796739459038, 0.19264696538448334, 0.07028786838054657, 0.27991241216659546, 0.043488673865795135, 0.11463809758424759, 0.17006120085716248, 0.0002591421944089234, 0.024843446910381317, 0.033503755927085876, 0.18911224603652954, 0.40970635414123535, 7.554570765933022e-05, 1.6254905858659185e-05, 0.0018793559866026044, 0.0005314405425451696, 0.0011279182508587837, 0.05148529261350632, 0.04294063150882721], "count": [707]}, "observation.state.joint_torque": {"min": [-32.419498443603516, -27.23550033569336, -16.222999572753906, -16.655000686645508, -0.4496000111103058, -3.1600000858306885, 0.6151999831199646, -0.6112931966781616, -0.37569060921669006, -0.6350144147872925, -0.6027044653892517, -0.10459613054990768, -0.43463727831840515, -0.506597101688385, -0.11289741843938828, -0.02996712550520897, -0.3789883553981781, -0.5593676567077637, -0.1494230479001999, -0.03496164828538895, -0.3482855260372162, -0.274406760931015, -0.09629485011100769, -0.01783757284283638, -0.10863086581230164, -0.3952992856502533, -0.4096912443637848, -0.10791664570569992, -0.14484110474586487, 16.36050033569336, -16.912500381469727, 4.126999855041504, -11.89900016784668, -1.8056000471115112, -2.39520001411438, -2.8736000061035156, -1.1652777194976807, -0.666054904460907, -0.36410802602767944, -0.393932580947876, -0.08301279693841934, -0.4269615709781647, -0.6639492511749268, -0.09297433495521545, -0.04423718526959419, -0.5737596154212952, -0.5411378145217896, -0.24571789801120758, -0.06849627941846848, -0.393380343914032, -0.6351653337478638, -0.220814049243927, -0.07135029137134552, -0.059373144060373306, -0.37515050172805786, -0.499880850315094, -0.18096791207790375, -0.20762935280799866, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-22.92300033569336, 16.04400062561035, -10.029000282287598, 6.519000053405762, 1.9847999811172485, 2.311199903488159, 3.172800064086914, 0.37569060921669006, 1.329562783241272, 0.6996342539787292, 0.579093337059021, 0.09131408482789993, 0.8625583648681641, 0.4039344787597656, 0.14610254764556885, 0.04281017929315567, 0.5536108613014221, 0.3195015788078308, 0.16602559387683868, 0.026399608701467514, 0.3175826668739319, 0.5353810787200928, 0.13946151733398438, 0.027826614677906036, 0.05585474148392677, 0.33005568385124207, 0.2341092824935913, 0.19092944264411926, 0.14412759244441986, 33.42150115966797, 17.302499771118164, 16.718000411987305, 6.638000011444092, 0.9815999865531921, 2.887200117111206, 1.5360000133514404, 1.0315572023391724, 1.7409120798110962, 0.8413008451461792, 0.9133768081665039, 0.41174352169036865, 1.0055185556411743, 0.4567050039768219, 0.17432688176631927, 0.03710215538740158, 0.9249235391616821, 0.4307994544506073, 0.31544867157936096, 0.0827663391828537, 0.7148008942604065, 0.5046781897544861, 0.22247432172298431, 0.04709119349718094, -0.025508463382720947, 0.3310151696205139, 0.648597776889801, 0.19092944264411926, 0.11201997101306915, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-26.604175567626953, 2.2434327602386475, -12.97574234008789, -3.1773061752319336, 0.31584376096725464, 0.9686477780342102, 1.9170897006988525, -0.012519137933850288, 0.506723165512085, 0.27401047945022583, 0.2261132001876831, -0.008052398450672626, 0.24407967925071716, 0.035160891711711884, 0.004698967561125755, 0.0045918566174805164, 0.17941983044147491, -0.04451943188905716, 0.038923267275094986, 0.00393284996971488, 0.08321148157119751, 0.04781034588813782, 0.03354806825518608, 0.007856594398617744, -0.01940164528787136, -0.011261112056672573, -0.08738592267036438, 0.011548945680260658, 0.0048663439229130745, 26.53080177307129, 2.841257095336914, 12.723167419433594, -2.3346171379089355, -0.23452435433864594, 0.781035840511322, -1.195797324180603, 0.022606391459703445, 0.5375047922134399, 0.31650418043136597, 0.0764034241437912, 0.11152603477239609, 0.371284157037735, 0.0705769807100296, 0.06134727597236633, 0.007399430964142084, 0.29723984003067017, -0.06840148568153381, 0.12736530601978302, 0.01724012941122055, 0.11884474009275436, -0.09559489786624908, 0.01593324914574623, 0.012580678798258305, -0.051911402493715286, -0.039278339594602585, 0.03168134391307831, -0.007552171126008034, 0.012254685163497925, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.5066392421722412, 2.2091102600097656, 1.0978353023529053, 1.4831019639968872, 0.34748396277427673, 0.5994322299957275, 0.5086995959281921, 0.2296535223722458, 0.5660325288772583, 0.35477790236473083, 0.1947108507156372, 0.02274310030043125, 0.274255633354187, 0.178823783993721, 0.044731419533491135, 0.009587145410478115, 0.24420320987701416, 0.15485723316669464, 0.07249182462692261, 0.007721902336925268, 0.16029638051986694, 0.14364412426948547, 0.06265144795179367, 0.010710984468460083, 0.03338943049311638, 0.19466768205165863, 0.11457507312297821, 0.05169422924518585, 0.014763676561415195, 2.101639986038208, 2.2929928302764893, 2.1609084606170654, 1.5344771146774292, 0.4022742807865143, 1.1202505826950073, 1.1696269512176514, 0.525986909866333, 0.5987370014190674, 0.38176169991493225, 0.359579473733902, 0.14383579790592194, 0.4056369662284851, 0.2048337161540985, 0.05612976476550102, 0.012439037673175335, 0.4164837598800659, 0.19927890598773956, 0.1191852018237114, 0.013838840648531914, 0.2813936471939087, 0.2050173431634903, 0.06657588481903076, 0.020444266498088837, 0.009018262848258018, 0.13790728151798248, 0.26727792620658875, 0.05838268622756004, 0.02124830149114132, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [707]}, "observation.state.tcp": {"min": [0.33732670545578003, 0.14282463490962982, 0.9072190523147583, -1.2490570545196533, 1.2178915739059448, -1.3667174577713013, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3529089093208313, -0.26824718713760376, 0.8807350993156433, -1.1341769695281982, 1.1449207067489624, 0.4924193024635315, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4210698902606964, 0.2772182822227478, 1.0678362846374512, -0.1758861243724823, 2.06219482421875, -0.6385250091552734, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4342450201511383, -0.0927339717745781, 1.0683963298797607, 1.2370257377624512, 1.7903584241867065, 1.5243595838546753, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.363170325756073, 0.20483244955539703, 0.9713492393493652, -0.43132930994033813, 1.831602931022644, -0.9987055659294128, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.38421526551246643, -0.19844330847263336, 1.002363681793213, 0.3463689684867859, 1.5118488073349, 1.0888043642044067, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.022221023216843605, 0.04272190481424332, 0.039556726813316345, 0.30094653367996216, 0.21655049920082092, 0.1562146693468094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.019743312150239944, 0.05462447926402092, 0.05445868521928787, 0.8112503290176392, 0.19683119654655457, 0.32524049282073975, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [707]}, "action": {"min": [1.0052368640899658, -0.9209637641906738, -0.23076824843883514, 0.9914309978485107, -1.069855809211731, -0.7699999809265137, 0.03921238332986832, 0.0, -0.29516804218292236, 0.0, -0.024723045527935028, 0.0, 0.0, -0.14914430677890778, 0.0, 0.0, 0.0, -0.16159577667713165, 0.0, 0.0, 0.0, -0.09019064158201218, 0.0, 0.0, -9.124105027069618e-09, 0.0, -0.11888968199491501, 0.0, 0.0, 0.9294965267181396, -0.879642128944397, -0.2335485816001892, 0.8444564342498779, -2.305093765258789, -0.7648677825927734, -0.03681553900241852, 0.0, -0.2821193337440491, 0.0, -0.14505568146705627, 0.0, 0.0, -0.16743947565555573, 0.0, 0.0, 0.0, -0.0681355819106102, 0.0, 0.0, 0.0, -0.026902122423052788, 0.0, 0.0, -9.944746359735746e-09, -0.001243885257281363, -0.02679821476340294, 0.0, 0.0, 0.5622998476028442, -1.1068999767303467, 0.5442000031471252, -0.00301455520093441, 6.568320711796228e-20, -0.018844448029994965, -0.771443784236908], "max": [1.3050341606140137, -0.5742840766906738, 2.0241659664279935e-18, 1.5700000524520874, 0.13978400826454163, -0.233452707529068, 0.5199999809265137, 1.3397254943847656, 0.0, 0.30753451585769653, 0.15025943517684937, 0.30716508626937866, 0.7250627875328064, 0.0421406589448452, 0.5206034779548645, 0.5438976287841797, 0.7786141633987427, 0.07412604987621307, 0.44344693422317505, 0.36135971546173096, 0.5028560161590576, 0.12802645564079285, 0.35738512873649597, 0.4302622675895691, 0.13999015092849731, 0.06129789352416992, 0.0, 0.7572296857833862, 1.397005558013916, 1.2733958959579468, -0.4737124443054199, -0.002513139508664608, 1.5669775009155273, 0.21798579394817352, -0.031446605920791626, 0.6296032667160034, 1.572034478187561, 0.0, 0.4684324562549591, 0.15021571516990662, 0.5787057876586914, 0.7321619987487793, 0.12951065599918365, 0.43391722440719604, 0.631837785243988, 0.6968672275543213, 0.15359453856945038, 0.7064533829689026, 0.41331958770751953, 0.7674378752708435, 0.15546737611293793, 0.3665686249732971, 0.49169713258743286, 0.020341340452432632, 0.09043184667825699, 0.12687145173549652, 0.5872961282730103, 1.3994698524475098, 0.5626999735832214, -1.106863021850586, 0.5570911765098572, 2.14711061574062e-20, 0.010849079117178917, 0.1560237854719162, -0.6000000238418579], "mean": [1.0985560417175293, -0.7182967066764832, -0.22253532707691193, 1.3217827081680298, -0.7423648238182068, -0.38523197174072266, 0.2232072949409485, 1.1767499446868896, -0.191807359457016, 0.17155268788337708, 0.09705011546611786, 0.17925141751766205, 0.447138249874115, -0.0302063450217247, 0.3931548595428467, 0.4476582109928131, 0.5113040804862976, -0.025588663294911385, 0.35063204169273376, 0.2962143123149872, 0.24687638878822327, 0.015432131476700306, 0.2215147167444229, 0.2681553363800049, 0.07596860080957413, 0.027767987921833992, -0.06136293336749077, 0.27190062403678894, 0.7381472587585449, 1.1489661931991577, -0.695723831653595, -0.22081464529037476, 1.270408272743225, -0.7546852827072144, -0.33869123458862305, 0.36337533593177795, 1.2303423881530762, -0.13618913292884827, 0.34980443120002747, -0.026042606681585312, 0.3181321918964386, 0.5392980575561523, 0.039553023874759674, 0.3183848261833191, 0.535765528678894, 0.5002368688583374, 0.06871405243873596, 0.50138920545578, 0.29249513149261475, 0.40382128953933716, 0.08202137798070908, 0.2326253056526184, 0.3213776648044586, 0.0026970647741109133, 0.03165817633271217, 0.05473698303103447, 0.39834702014923096, 1.026174545288086, 0.5623098015785217, -1.1068686246871948, 0.5557810664176941, -0.0023013500031083822, 0.006897056475281715, 0.053740911185741425, -0.7118504047393799], "std": [0.06324619799852371, 0.09607455879449844, 0.03663433715701103, 0.14049696922302246, 0.3196793496608734, 0.10908585041761398, 0.14890392124652863, 0.27695390582084656, 0.07338107377290726, 0.10288156569004059, 0.034098803997039795, 0.04243101924657822, 0.2049170434474945, 0.05166226997971535, 0.1503918468952179, 0.1547938585281372, 0.24677877128124237, 0.055455584079027176, 0.1188458576798439, 0.087396040558815, 0.18669451773166656, 0.04966284707188606, 0.12750209867954254, 0.15560881793498993, 0.04084894806146622, 0.025590291246771812, 0.030866233631968498, 0.23469270765781403, 0.5706475377082825, 0.10126860439777374, 0.07868088781833649, 0.03690393641591072, 0.18588784337043762, 0.8289958238601685, 0.14909225702285767, 0.23927512764930725, 0.32903608679771423, 0.08730307966470718, 0.08716461807489395, 0.08216005563735962, 0.17121295630931854, 0.220151886343956, 0.07328290492296219, 0.08915624022483826, 0.14022137224674225, 0.220174178481102, 0.05946958810091019, 0.221366286277771, 0.08305620402097702, 0.2989758849143982, 0.041991326957941055, 0.12463599443435669, 0.18438374996185303, 0.006094943732023239, 0.025098172947764397, 0.036980584263801575, 0.19457118213176727, 0.4504719078540802, 6.668949936283752e-05, 7.532146355515579e-06, 0.002021180232986808, 0.000549701857380569, 0.0012635919265449047, 0.051548585295677185, 0.0430300198495388], "count": [707]}, "observation.state.tcp_pose": {"min": [0.33732670545578003, 0.14282463490962982, 0.9072190523147583, -1.2490570545196533, 1.2178915739059448, -1.3667174577713013, 0.3529089093208313, -0.26824718713760376, 0.8807350993156433, -1.1341769695281982, 1.1449207067489624, 0.4924193024635315], "max": [0.4210698902606964, 0.2772182822227478, 1.0678362846374512, -0.1758861243724823, 2.06219482421875, -0.6385250091552734, 0.4342450201511383, -0.0927339717745781, 1.0683963298797607, 1.2370257377624512, 1.7903584241867065, 1.5243595838546753], "mean": [0.363170325756073, 0.20483244955539703, 0.9713492393493652, -0.43132930994033813, 1.831602931022644, -0.9987055659294128, 0.38421526551246643, -0.19844330847263336, 1.002363681793213, 0.3463689684867859, 1.5118488073349, 1.0888043642044067], "std": [0.022221023216843605, 0.04272190481424332, 0.039556726813316345, 0.30094653367996216, 0.21655049920082092, 0.1562146693468094, 0.019743312150239944, 0.05462447926402092, 0.05445868521928787, 0.8112503290176392, 0.19683119654655457, 0.32524049282073975], "count": [707]}, "action.tcp_pose": {"min": [0.3373129367828369, 0.14282844960689545, 0.9071252942085266, -1.2297030687332153, 1.2178406715393066, -1.3684583902359009, 0.3529197871685028, -0.26815274357795715, 0.8808910846710205, -1.134231686592102, 1.145066261291504, 0.4923434853553772], "max": [0.4210095703601837, 0.2774678170681, 1.0689196586608887, -0.17629246413707733, 2.061980962753296, -0.6384464502334595, 0.43404772877693176, -0.09266781061887741, 1.068596601486206, 1.230457067489624, 1.7900205850601196, 1.524184226989746], "mean": [0.3631590008735657, 0.20500396192073822, 0.9714095592498779, -0.43150612711906433, 1.8314194679260254, -0.9988942742347717, 0.38437339663505554, -0.19871054589748383, 1.0025017261505127, 0.34983891248703003, 1.5126101970672607, 1.0900343656539917], "std": [0.02225305326282978, 0.0428207628428936, 0.039731714874506, 0.3005179464817047, 0.21689726412296295, 0.15639400482177734, 0.01980125717818737, 0.054672349244356155, 0.054367464035749435, 0.8082794547080994, 0.19601021707057953, 0.32420480251312256], "count": [707]}, "subtask_index": {"min": [0], "max": [4], "mean": [1.9024045261669025], "std": [1.2643887064498407], "count": [707]}, "observation.tactile": {"min": [-1.2575498819351196, -4.661580533138476e-05, -0.00010717326949816197, -0.02819926105439663, -0.007742239162325859, -0.012885520234704018, -0.021188577637076378, -3.9918479160405695e-05, -8.941232226788998e-05, -0.012043957598507404, -0.0009374555665999651, -0.0004508043057285249, -0.1334189772605896, -3.603304867283441e-05, -7.661816198378801e-05, -0.01739354431629181, -0.0029306942597031593, -0.002684456529095769, -0.19143491983413696, -3.448287316132337e-05, -7.851020927773789e-05, -0.001028653234243393, -6.817111716372892e-05, -0.002304416848346591, -0.8162128329277039, -4.281813744455576e-05, -9.827304165810347e-05, -0.0017004294786602259, -9.29526868276298e-05, -0.016415219753980637, -0.001128336414694786, -3.861636287183501e-05, -8.553889347240329e-05, -0.10208410769701004, -1.5422468777614995e-06, -0.0004713580128736794, -0.33281221985816956, -3.672272578114644e-05, -8.106734458124265e-05, -0.026648789644241333, -0.005851744674146175, -0.0031913218554109335, -0.9193243980407715, -4.112818351131864e-05, -9.477777348365635e-05, -0.03646235540509224, -0.004810055252164602, -0.011765487492084503, -0.9385691285133362, -4.566549614537507e-05, -0.00010350998491048813, -0.02169346995651722, -0.0009566672961227596, -0.012531667947769165, -1.417248249053955, -0.6971148252487183, -0.3124489486217499, -0.02910018526017666, -0.0030095844995230436, -0.023547161370515823], "max": [0.00757576385512948, 0.6332285404205322, 2.5052402019500732, 2.0341749404906295e-06, 0.00031549856066703796, 5.0109381845686585e-05, 0.27935975790023804, 0.382420152425766, 0.9515345692634583, 1.6256105936918175e-06, 0.0009478642605245113, 0.00359190977178514, 0.7601940631866455, 0.9677656888961792, 1.3607393503189087, 1.4079539596423274e-06, 0.002083246363326907, 0.0109205711632967, 0.0002781972580123693, 0.03463266044855118, 0.08524932712316513, 1.4168509778755833e-06, 4.860682747676037e-05, 5.749312549596652e-06, 0.3298313021659851, 0.15870165824890137, 0.09375005215406418, 1.8387110003459384e-06, 0.0019838290754705667, 0.0060713025741279125, 5.3492231369018555, 5.443408966064453, 8.344186782836914, 1.6366008139812038e-06, 0.018938031047582626, 0.05378805100917816, 0.7764124274253845, 1.1524454355239868, 2.1673977375030518, 1.4895165350026218e-06, 0.0003689758013933897, 0.012515632435679436, 0.49421417713165283, 1.4667671918869019, 2.972069263458252, 1.7209940779139288e-06, 0.0019225317519158125, 0.009422773495316505, 0.0225608479231596, 0.7027533054351807, 1.8583815097808838, 1.8966468360304134e-06, 0.004168596584349871, 0.0005663454649038613, 3.776606798171997, 2.2930173873901367, 1.7990714311599731, 0.007028831169009209, 0.004760678391903639, 0.0612640455365181], "mean": [-0.4835852086544037, 0.22553381323814392, 0.9975816607475281, -0.010986451990902424, -0.0029455607291311026, -0.0046304878778755665, 0.009459953755140305, 0.025800339877605438, 0.06939530372619629, -0.0009232416632585227, -1.900212373584509e-05, 0.0001274715323233977, 0.1460878551006317, 0.21742725372314453, 0.42350637912750244, -0.005216867662966251, 8.622629684396088e-05, 0.0016740345163270831, -0.001784270047210157, 0.0015070070512592793, 0.004350116476416588, -9.440314170205966e-05, -3.3060068744816817e-06, -3.026886042789556e-05, 0.078360415995121, 0.009503780864179134, 0.01862601935863495, -0.0003373178478796035, 0.00016132496239151806, 0.0013857948360964656, 2.214571714401245, 1.8274379968643188, 3.1549785137176514, -0.03609715402126312, 0.006467666011303663, 0.02112400531768799, 0.006172663532197475, 0.15690727531909943, 0.38140490651130676, -0.004642274230718613, -0.0007426885422319174, 0.00039289009873755276, -0.0824257954955101, 0.39917615056037903, 0.9141044616699219, -0.010536721907556057, -0.0007902677753008902, -0.0006565145449712873, -0.1661054790019989, 0.12056977301836014, 0.3467879295349121, -0.0039923060685396194, 0.0005262621561996639, -0.0020942850969731808, 0.09961782395839691, 0.02501041255891323, 0.05063300579786301, -0.0009008509223349392, 0.00013083337398711592, 0.0017869590083137155], "std": [0.46522244811058044, 0.23059377074241638, 1.0081254243850708, 0.011157308705151081, 0.0031349926721304655, 0.004487968515604734, 0.032421376556158066, 0.06838230043649673, 0.17915602028369904, 0.002302132546901703, 0.00016495630552526563, 0.00044874739251099527, 0.21518662571907043, 0.28240540623664856, 0.5172168612480164, 0.0063428739085793495, 0.0006887586787343025, 0.002681024605408311, 0.010656025260686874, 0.002927504712715745, 0.00813306588679552, 0.00015857927792239934, 8.579569112043828e-06, 0.0001361113099846989, 0.13861435651779175, 0.014665056951344013, 0.020403681322932243, 0.0003731162869371474, 0.00023121800040826201, 0.0025697597302496433, 2.0766873359680176, 1.990615725517273, 3.0955424308776855, 0.03631576895713806, 0.006816077046096325, 0.01989632658660412, 0.12080748379230499, 0.2510584592819214, 0.5689008831977844, 0.00682997377589345, 0.0013206356670707464, 0.0017874588957056403, 0.24864508211612701, 0.4246070981025696, 0.9697750210762024, 0.011251834221184254, 0.0014139439444988966, 0.003548051929101348, 0.2865791618824005, 0.1995612382888794, 0.5651641488075256, 0.00650261715054512, 0.00112964678555727, 0.0036777518689632416, 0.46300628781318665, 0.22445708513259888, 0.19350111484527588, 0.0035105296410620213, 0.0005504533182829618, 0.007931316271424294], "count": [707]}, "timestamp": {"min": [0.0], "max": [23.533333333333335], "mean": [11.766666666666666], "std": [6.803103866781854], "count": [707]}, "frame_index": {"min": [0], "max": [706], "mean": [353.0], "std": [204.09311600345563], "count": [707]}, "episode_index": {"min": [3], "max": [3], "mean": [3.0], "std": [0.0], "count": [707]}, "index": {"min": [2178], "max": [2884], "mean": [2531.0], "std": [204.09311600345563], "count": [707]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [707]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5366969704627991]], [[0.5361260175704956]], [[0.5377565026283264]]], "std": [[[0.2831663489341736]], [[0.28316283226013184]], [[0.2836624085903168]]], "count": [707]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2133474200963974]], [[0.2150333672761917]], [[0.21125544607639313]]], "std": [[[0.1430720090866089]], [[0.14518575370311737]], [[0.1455458253622055]]], "count": [707]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2975846230983734]], [[0.2990248501300812]], [[0.2987266778945923]]], "std": [[[0.1687876284122467]], [[0.1708102971315384]], [[0.17030473053455353]]], "count": [707]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5346513390541077]], [[0.5344083905220032]], [[0.5357536673545837]]], "std": [[[0.2854089140892029]], [[0.28548330068588257]], [[0.285889208316803]]], "count": [707]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.47843137383461]], [[0.47843137383461]], [[0.47843137383461]]], "mean": [[[0.0014328855322673917]], [[0.0014328855322673917]], [[0.0014328855322673917]]], "std": [[[0.02007349766790867]], [[0.02007349766790867]], [[0.02007349766790867]]], "count": [707]}, "observation.images.tactile_raw": {"min": [[[0.07058823853731155]], [[0.07058823853731155]], [[0.07058823853731155]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5072174668312073]], [[0.5072174668312073]], [[0.5072174668312073]]], "std": [[[0.23643292486667633]], [[0.23643292486667633]], [[0.23643292486667633]]], "count": [707]}}}
+{"episode_index": 4, "stats": {"observation.state": {"min": [0.9773803353309631, -0.8710137605667114, -0.23091013729572296, 1.106514811515808, -1.0578912496566772, -0.770046055316925, 0.035095445811748505, 0.009024997241795063, -0.2867412567138672, -0.018702872097492218, -0.09779071807861328, 0.010736873373389244, 0.010492824018001556, -0.14448440074920654, 0.010829059407114983, 0.010157488286495209, -0.0068869502283632755, -0.1651729941368103, 0.017112622037529945, 0.01028120331466198, -0.008376989513635635, -0.0449744313955307, 0.014241018332540989, 0.005061672534793615, 0.031978800892829895, -0.010095905512571335, -0.06322139501571655, 0.011461599729955196, -0.0031709170434623957, 0.893838107585907, -0.9303070306777954, -0.23355984687805176, 0.9609651565551758, -2.0763707160949707, -0.7690300941467285, -0.05345108360052109, 0.012302478775382042, -0.2883872389793396, 0.023621691390872, -0.1239074319601059, 0.01456827949732542, -0.0190687645226717, -0.16562633216381073, 0.008521918207406998, 0.010272334329783916, 0.0038676236290484667, -0.03359847515821457, 0.013376593589782715, 0.004429794382303953, -0.026334969326853752, 0.012430315837264061, 0.013926166109740734, 0.01058140117675066, 0.01396162435412407, -0.2501787841320038, -0.014019456692039967, 0.010873734951019287, 0.002281854161992669, 0.5620121955871582, -1.1069588661193848, 0.5441796779632568, -0.002972087822854519, 0.0, -0.024351945146918297, -0.7707294821739197], "max": [1.2489709854125977, -0.5858855843544006, 2.7324032998876646e-05, 1.5700440406799316, 0.11546177417039871, -0.22355696558952332, 0.5200383067131042, 1.3249118328094482, -0.0038289071526378393, 0.2806948125362396, 0.13971242308616638, 0.17436480522155762, 0.6936381459236145, 0.014818440191447735, 0.4604346454143524, 0.5550462007522583, 0.6623669862747192, 0.01295307744294405, 0.35215574502944946, 0.3221777677536011, 0.4307278096675873, 0.06571011245250702, 0.3118082582950592, 0.46890419721603394, 0.26648464798927307, 0.04332960024476051, -0.001875917543657124, 0.8250663876533508, 1.2972097396850586, 1.3185917139053345, -0.5176112055778503, -0.00042735744500532746, 1.56967031955719, 0.2783929407596588, -0.07050248235464096, 0.6430701613426208, 1.4318921566009521, 0.009684106335043907, 0.5218096971511841, 0.1476600021123886, 0.5792164206504822, 0.677358090877533, 0.11176883429288864, 0.3874340355396271, 0.5716284513473511, 0.7077358961105347, 0.16797548532485962, 0.8150045871734619, 0.39639344811439514, 0.791959822177887, 0.16090528666973114, 0.34154757857322693, 0.45682400465011597, 0.10251262038946152, 0.1026281788945198, 0.12901662290096283, 0.6943269968032837, 1.3621459007263184, 0.5627791881561279, -1.106767177581787, 0.557026743888855, 9.58738019107841e-05, 0.008532768115401268, 0.11600729823112488, -0.5998823642730713], "mean": [1.0718234777450562, -0.702509880065918, -0.22113172709941864, 1.310351848602295, -0.6749612092971802, -0.34928691387176514, 0.22172638773918152, 1.1498717069625854, -0.2270614206790924, 0.16254375874996185, 0.066880002617836, 0.16677309572696686, 0.3800375461578369, -0.0635940358042717, 0.33774590492248535, 0.44108128547668457, 0.38744795322418213, -0.055902790278196335, 0.23954279720783234, 0.22585636377334595, 0.1792859435081482, 0.010620648972690105, 0.17066194117069244, 0.2590106427669525, 0.1655758023262024, 0.025823775678873062, -0.0299240555614233, 0.33031442761421204, 0.7199227809906006, 1.1245816946029663, -0.7129837274551392, -0.22090847790241241, 1.2831295728683472, -0.6471433043479919, -0.2729870080947876, 0.3751112222671509, 1.1873992681503296, -0.13302622735500336, 0.24335500597953796, -0.022803671658039093, 0.3415340483188629, 0.4813721477985382, 0.015346137806773186, 0.2909204959869385, 0.45416805148124695, 0.42111828923225403, 0.0747462585568428, 0.6128769516944885, 0.30119526386260986, 0.39406824111938477, 0.09496279805898666, 0.23051822185516357, 0.2895624339580536, 0.028088295832276344, 0.03113854117691517, 0.058154135942459106, 0.41040104627609253, 0.9245323538780212, 0.5623084306716919, -1.1068711280822754, 0.555738627910614, -0.0021978416480123997, 0.006779440678656101, 0.028007851913571358, -0.7226576805114746], "std": [0.07297055423259735, 0.07249947637319565, 0.04082841798663139, 0.1266358643770218, 0.29164576530456543, 0.10169368237257004, 0.15592613816261292, 0.2649892270565033, 0.054395727813243866, 0.07203992456197739, 0.05692744255065918, 0.03100491315126419, 0.20549480617046356, 0.055462244898080826, 0.14129239320755005, 0.1636299043893814, 0.25839805603027344, 0.06017893925309181, 0.1308635026216507, 0.12042173743247986, 0.16380172967910767, 0.043047141283750534, 0.11866851150989532, 0.18456624448299408, 0.058751992881298065, 0.010488885454833508, 0.010195014998316765, 0.23454876244068146, 0.4845961332321167, 0.12526655197143555, 0.07917330414056778, 0.0391886867582798, 0.1605112999677658, 0.6897852420806885, 0.12434565275907516, 0.2554040849208832, 0.3069269359111786, 0.08885404467582703, 0.13588301837444305, 0.07974434643983841, 0.19070713222026825, 0.21162642538547516, 0.07965288311243057, 0.0932021513581276, 0.14597474038600922, 0.22666463255882263, 0.06622752547264099, 0.18214423954486847, 0.0642831102013588, 0.31067442893981934, 0.04901531711220741, 0.1193295568227768, 0.1667061746120453, 0.018366623669862747, 0.059212494641542435, 0.04633317142724991, 0.21565529704093933, 0.42915162444114685, 9.407614561496302e-05, 2.530215169826988e-05, 0.0019392434041947126, 0.000558055064175278, 0.001168948714621365, 0.04158780351281166, 0.044446058571338654], "count": [740]}, "observation.state.joint_torque": {"min": [-34.378501892089844, -13.270500183105469, -17.393999099731445, -9.996999740600586, -0.8456000089645386, -2.029599905014038, -2.0167999267578125, -1.139807105064392, -0.35149362683296204, -0.5331138372421265, -0.6337716579437256, -0.09961536526679993, -0.41256964206695557, -0.5085160732269287, -0.10957689583301544, -0.027826614677906036, -0.40105605125427246, -0.3905019462108612, -0.15440380573272705, -0.019264578819274902, -0.28496089577674866, -0.2744067907333374, -0.10293588042259216, -0.027826614677906036, -0.086201012134552, -0.37802889943122864, -0.37994784116744995, -0.17930765450000763, -0.19407281279563904, 0.5924999713897705, -14.579999923706055, -5.197000026702881, -11.182999610900879, -1.9464000463485718, -6.676000118255615, -3.4119999408721924, -1.4161626100540161, -0.7539283037185669, -0.3442250192165375, -0.4622805118560791, -0.0979551151394844, -0.3521233797073364, -0.4212048053741455, -0.06807050108909607, -0.01783757284283638, -0.45382657647132874, -0.550732433795929, -0.10459613054990768, -0.01212955079972744, -0.585273265838623, -0.38186678290367126, -0.15772433578968048, -0.019264578819274902, -0.20934532582759857, -0.3482855260372162, -0.5497730374336243, -0.23741662502288818, -0.21547789871692657, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-18.247499465942383, 18.82349967956543, -6.008999824523926, 7.681000232696533, 1.958400011062622, 2.1368000507354736, 3.2736001014709473, 0.7985016703605652, 0.9831632375717163, 0.5057746767997742, 0.5964909791946411, 0.11123716086149216, 0.5497730374336243, 0.457664430141449, 0.11953844130039215, 0.033534638583660126, 0.4144885540008545, 0.3530828356742859, 0.10293588042259216, 0.02425910159945488, 0.31662318110466003, 0.4116101562976837, 0.11621791869401932, 0.02425910159945488, 0.05233633145689964, 0.3147042691707611, 0.5593676567077637, 0.1328205019235611, 0.09275539219379425, 43.35749816894531, 12.625499725341797, 19.420000076293945, 5.370999813079834, 1.1535999774932861, 2.906399965286255, 5.234399795532227, 0.9831631779670715, 1.9383089542388916, 0.6101605892181396, 0.7331868410110474, 0.2822435200214386, 1.1417624950408936, 0.5334621071815491, 0.16602559387683868, 0.038529157638549805, 0.8702340722084045, 0.2705689072608948, 0.1759871542453766, 0.022832093760371208, 0.6687465906143188, 0.7435847520828247, 0.1942499577999115, 0.04780469834804535, 0.001759204315021634, 1.260736107826233, 1.1782220602035522, 0.6790447235107422, 0.21405088901519775, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-26.163558959960938, 2.398230791091919, -12.568668365478516, -3.313290596008301, 0.35123133659362793, 0.7548843622207642, 1.9059555530548096, -0.05246245488524437, 0.2708278000354767, 0.09219761192798615, 0.08334071189165115, 0.029579512774944305, 0.2104015052318573, 0.06269581615924835, 0.0012429483467712998, 0.006514089647680521, 0.06189710646867752, 0.02336297743022442, -0.010293588042259216, 0.0026650307700037956, 0.07068395614624023, 0.07967445254325867, 0.0183525700122118, 0.0047004143707454205, -0.026396973058581352, -0.008278528228402138, 0.0008207464707084, 0.004190994892269373, 0.004557738080620766, 25.196027755737305, 2.9325976371765137, 12.037469863891602, -2.5815083980560303, -0.2538703978061676, 0.4098455607891083, -1.1279326677322388, 0.017216596752405167, 0.6500639319419861, 0.1791067123413086, 0.04926597326993942, 0.019678540527820587, 0.4329970180988312, 0.09612663835287094, 0.04861187934875488, 0.0033544301986694336, 0.2348172813653946, -0.07836484909057617, 0.04938141256570816, 0.009381577372550964, 0.028485659509897232, -0.007325652055442333, -0.013073400594294071, 0.002741204109042883, -0.036596834659576416, 0.025978075340390205, 0.11121218651533127, 0.02581922709941864, 0.011147127486765385, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.872104287147522, 2.077943801879883, 1.4155224561691284, 1.5372660160064697, 0.3301622271537781, 0.5907063484191895, 0.6147660613059998, 0.23051178455352783, 0.45607733726501465, 0.2379710078239441, 0.2116236537694931, 0.01806771196424961, 0.24787764251232147, 0.20697160065174103, 0.04381762817502022, 0.008589369244873524, 0.1582196056842804, 0.14210721850395203, 0.0546429418027401, 0.009536582045257092, 0.1686321496963501, 0.13552996516227722, 0.0665946677327156, 0.012840951792895794, 0.029304418712854385, 0.1760413944721222, 0.1347888559103012, 0.05773383751511574, 0.014961645938456059, 4.516620635986328, 3.2884018421173096, 3.4672999382019043, 1.9440006017684937, 0.5009871125221252, 1.2848361730575562, 1.4719337224960327, 0.5373592376708984, 0.7904187440872192, 0.2853546738624573, 0.31090691685676575, 0.057301782071590424, 0.5076743364334106, 0.25229644775390625, 0.05584830418229103, 0.010066519491374493, 0.3896917998790741, 0.13251297175884247, 0.05978962406516075, 0.007920852862298489, 0.1975022703409195, 0.17984244227409363, 0.08394300192594528, 0.012017310597002506, 0.04072685167193413, 0.2476591318845749, 0.3496772050857544, 0.10807204991579056, 0.047082457691431046, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [740]}, "observation.state.tcp": {"min": [0.31879720091819763, 0.1392611414194107, 0.9006359577178955, -1.2183893918991089, 1.2175848484039307, -1.3710590600967407, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3352893888950348, -0.28637343645095825, 0.8699114322662354, -1.0368072986602783, 1.2182029485702515, 0.4646814465522766, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.41484197974205017, 0.2733970880508423, 1.051927924156189, -0.15196257829666138, 2.126636266708374, -0.6983482241630554, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.45218953490257263, -0.09470563381910324, 1.0801639556884766, 1.2728862762451172, 1.866401195526123, 1.602529525756836, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3563151955604553, 0.2005288153886795, 0.9565457701683044, -0.5171669125556946, 1.8926162719726562, -1.0292845964431763, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3762003779411316, -0.2056775838136673, 0.9888057112693787, 0.45839744806289673, 1.6259254217147827, 1.1226543188095093, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.025122961029410362, 0.040942586958408356, 0.04381495341658592, 0.2635915279388428, 0.23223461210727692, 0.15346664190292358, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.023426996544003487, 0.05248932167887688, 0.06046776846051216, 0.7087985277175903, 0.17928864061832428, 0.31988725066185, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [740]}, "action": {"min": [0.9774333834648132, -0.87120521068573, -0.23086410760879517, 1.1062878370285034, -1.0578715801239014, -0.7699999809265137, 0.034993939101696014, 0.0, -0.29423800110816956, -0.0027045835740864277, -0.09237060695886612, 0.0, 0.0, -0.1456296443939209, 0.0, 0.0, 0.0, -0.1654845029115677, 0.0, 0.0, 0.0, -0.1081826314330101, 0.0, 0.0, 0.0, 0.0, -0.1433410942554474, 0.0, 0.0, 0.8939273357391357, -0.9309346079826355, -0.2335485816001892, 0.9608472585678101, -2.0780646800994873, -0.7687296271324158, -0.05349758267402649, 0.0, -0.28868022561073303, 0.0, -0.134781152009964, 0.0, 0.0, -0.17383639514446259, 0.0, 0.0, 0.0, -0.04308866709470749, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -9.99999993922529e-09, -0.0001261826400877908, -0.017855186015367508, 0.0, 0.0, 0.5622998476028442, -1.1068999767303467, 0.5442000031471252, -0.003493646625429392, 5.665221462623084e-19, -0.024857984855771065, -0.7709887027740479], "max": [1.2489479780197144, -0.5858848094940186, 7.633603195721114e-18, 1.5700000524520874, 0.11543205380439758, -0.22338595986366272, 0.5199999809265137, 1.3469634056091309, 0.0, 0.30122247338294983, 0.13437148928642273, 0.19090969860553741, 0.7048161625862122, 0.03316046670079231, 0.4801853895187378, 0.5745420455932617, 0.6794525384902954, 0.017496943473815918, 0.3661130368709564, 0.3383157253265381, 0.4473918080329895, 0.07545188814401627, 0.3354310095310211, 0.48733171820640564, 0.26180002093315125, 0.04875916615128517, 0.0, 0.8532951474189758, 1.3756734132766724, 1.3185523748397827, -0.5175268054008484, -0.0006100119207985699, 1.569331407546997, 0.27832165360450745, -0.07017962634563446, 0.6431214809417725, 1.4717857837677002, 0.06774356961250305, 0.5342246890068054, 0.15153783559799194, 0.6007198691368103, 0.8124330043792725, 0.13290312886238098, 0.4125880002975464, 0.5846695303916931, 0.7623265981674194, 0.16170096397399902, 0.8595814108848572, 0.41254210472106934, 0.8073275089263916, 0.1625756472349167, 0.36863216757774353, 0.4712224304676056, 0.01574757881462574, 0.09804312139749527, 0.13731135427951813, 0.7168335914611816, 1.4012978076934814, 0.5626999735832214, -1.106863021850586, 0.5573499798774719, 4.682466529918673e-20, 0.009954473935067654, 0.1161687821149826, -0.6000000238418579], "mean": [1.072003722190857, -0.7025660872459412, -0.22119835019111633, 1.310371994972229, -0.6740902662277222, -0.34926071763038635, 0.22182804346084595, 1.1461681127548218, -0.21283045411109924, 0.17625819146633148, 0.06975185871124268, 0.17458991706371307, 0.40260034799575806, -0.0602264367043972, 0.33758845925331116, 0.4478659927845001, 0.3940877914428711, -0.054943524301052094, 0.2384607195854187, 0.23036344349384308, 0.18455059826374054, -0.003132203361019492, 0.17709651589393616, 0.2670299708843231, 0.15168128907680511, 0.022534778341650963, -0.06571592390537262, 0.33649942278862, 0.7379818558692932, 1.1248201131820679, -0.7132629156112671, -0.22095967829227448, 1.2830133438110352, -0.64436936378479, -0.27338874340057373, 0.37519633769989014, 1.1875869035720825, -0.09987837076187134, 0.26804742217063904, -0.02109398879110813, 0.346296101808548, 0.5528635382652283, 0.021081537008285522, 0.30456745624542236, 0.46015477180480957, 0.45837071537971497, 0.07121606916189194, 0.6266024112701416, 0.311177134513855, 0.3985932767391205, 0.0942496806383133, 0.22842268645763397, 0.29393884539604187, 0.0004555604245979339, 0.039261411875486374, 0.06351282447576523, 0.42001116275787354, 0.9649238586425781, 0.5623103976249695, -1.106868863105774, 0.5557781457901001, -0.0022403020411729813, 0.006823776755481958, 0.02803611196577549, -0.7226830720901489], "std": [0.07321517169475555, 0.07253506779670715, 0.04080935940146446, 0.12658417224884033, 0.29205888509750366, 0.10178562253713608, 0.15605592727661133, 0.2788531482219696, 0.07035264372825623, 0.0924425721168518, 0.05698695406317711, 0.038351524621248245, 0.22308379411697388, 0.06158549338579178, 0.1456773579120636, 0.17198185622692108, 0.26453080773353577, 0.06470242887735367, 0.1332310140132904, 0.12449082732200623, 0.17240923643112183, 0.06903448700904846, 0.13292251527309418, 0.196900874376297, 0.05776155740022659, 0.017692003399133682, 0.04010065644979477, 0.24995926022529602, 0.5122767090797424, 0.12526893615722656, 0.07957586646080017, 0.03912784904241562, 0.16034020483493805, 0.6869438886642456, 0.12482563406229019, 0.25531548261642456, 0.3182845115661621, 0.12365645170211792, 0.12455995380878448, 0.07946460694074631, 0.19550880789756775, 0.2622045874595642, 0.08600931614637375, 0.10298896580934525, 0.15236416459083557, 0.26308754086494446, 0.06520157307386398, 0.19378019869327545, 0.07329189032316208, 0.31870365142822266, 0.05245564505457878, 0.13061998784542084, 0.17439289391040802, 0.0018912076484411955, 0.0334034226834774, 0.052048880606889725, 0.21887704730033875, 0.44488316774368286, 6.862266309326515e-05, 7.682846444367897e-06, 0.002079627476632595, 0.0005825382540933788, 0.0012998025631532073, 0.041642650961875916, 0.044565919786691666], "count": [740]}, "observation.state.tcp_pose": {"min": [0.31879720091819763, 0.1392611414194107, 0.9006359577178955, -1.2183893918991089, 1.2175848484039307, -1.3710590600967407, 0.3352893888950348, -0.28637343645095825, 0.8699114322662354, -1.0368072986602783, 1.2182029485702515, 0.4646814465522766], "max": [0.41484197974205017, 0.2733970880508423, 1.051927924156189, -0.15196257829666138, 2.126636266708374, -0.6983482241630554, 0.45218953490257263, -0.09470563381910324, 1.0801639556884766, 1.2728862762451172, 1.866401195526123, 1.602529525756836], "mean": [0.3563151955604553, 0.2005288153886795, 0.9565457701683044, -0.5171669125556946, 1.8926162719726562, -1.0292845964431763, 0.3762003779411316, -0.2056775838136673, 0.9888057112693787, 0.45839744806289673, 1.6259254217147827, 1.1226543188095093], "std": [0.025122961029410362, 0.040942586958408356, 0.04381495341658592, 0.2635915279388428, 0.23223461210727692, 0.15346664190292358, 0.023426996544003487, 0.05248932167887688, 0.06046776846051216, 0.7087985277175903, 0.17928864061832428, 0.31988725066185], "count": [740]}, "action.tcp_pose": {"min": [0.3186204135417938, 0.13929638266563416, 0.9002962112426758, -1.219697117805481, 1.2178406715393066, -1.375575304031372, 0.33457568287849426, -0.28979402780532837, 0.8695746660232544, -1.0377309322357178, 1.2186403274536133, 0.46419671177864075], "max": [0.41470709443092346, 0.27357006072998047, 1.0518072843551636, -0.15183871984481812, 2.1267383098602295, -0.6974436044692993, 0.4520011842250824, -0.09468711912631989, 1.0794955492019653, 1.2687710523605347, 1.8670543432235718, 1.6020199060440063], "mean": [0.3563608229160309, 0.20059256255626678, 0.9565814733505249, -0.5181245803833008, 1.8923702239990234, -1.0295517444610596, 0.3763369619846344, -0.20590724050998688, 0.9888896942138672, 0.4610508382320404, 1.6263065338134766, 1.123336672782898], "std": [0.025203697383403778, 0.04094192013144493, 0.043868452310562134, 0.2636454105377197, 0.23245446383953094, 0.1536436676979065, 0.023585693910717964, 0.05254019796848297, 0.060490820556879044, 0.7056652903556824, 0.17985238134860992, 0.3181289732456207], "count": [740]}, "subtask_index": {"min": [0], "max": [4], "mean": [1.7891891891891891], "std": [1.3582150018441401], "count": [740]}, "observation.tactile": {"min": [-0.35906246304512024, -4.306880146032199e-05, -9.942809992935508e-05, -0.0055457595735788345, -0.0016013006679713726, -0.0035715075209736824, -0.10570038110017776, -4.2629981180652976e-05, -9.652625885792077e-05, -0.004102605860680342, -0.00015361362602561712, -0.0017684168415144086, -0.03516664355993271, -3.599114643293433e-05, -7.82663410063833e-05, -0.004023151937872171, -0.0006834493833594024, -0.0005340368370525539, -0.01424509659409523, -3.309630847070366e-05, -7.448688120348379e-05, -0.0008502507116645575, -0.00011132231156807393, -0.0001848048559622839, -7.960156440734863, -0.613680899143219, -0.6896896958351135, -0.014379730448126793, -0.0027255036402493715, -0.16240234673023224, -0.005205933470278978, -4.368323061498813e-05, -9.690206206869334e-05, -0.026511944830417633, -3.232490416849032e-05, -0.0009601368219591677, -0.006203279364854097, -3.13905838993378e-05, -6.945300265215337e-05, -0.0013515767641365528, -1.9983785023214296e-05, -0.0001474203309044242, -1.1598484516143799, -4.459732735995203e-05, -0.00010245651355944574, -0.025068268179893494, -0.0030670203268527985, -0.011105998419225216, -0.004995522554963827, -4.937529593007639e-05, -0.00011199197615496814, -0.005415014922618866, -5.576230614678934e-05, -0.0001917817280627787, -0.0042501226998865604, -1.8178032636642456, -0.46750783920288086, -0.14991013705730438, -0.004135564900934696, -0.0001165402791230008], "max": [0.007711683865636587, 0.11678653955459595, 0.5190339684486389, 1.8708170728132245e-06, 0.00025195657508447766, 8.181209705071524e-05, 0.01892138458788395, 0.11092259734869003, 0.2567950189113617, 1.78823358965019e-06, 0.0004603223060257733, 0.0003257246862631291, 0.13828785717487335, 0.17360931634902954, 0.41402488946914673, 1.436836100765504e-06, 0.0005329526029527187, 0.0016532725421711802, 0.00025932685821317136, 0.01427560206502676, 0.04000305384397507, 1.335705746896565e-06, 6.886330083943903e-05, 5.305481408868218e-06, 0.8080930709838867, 1.4129745960235596, 0.7295343279838562, 0.015676625072956085, 0.01248825155198574, 0.01723337545990944, 1.88019859790802, 1.1453803777694702, 2.6139564514160156, 1.8763719253911404e-06, 0.008037726394832134, 0.016116023063659668, 0.025233810767531395, 0.02040616050362587, 0.061082128435373306, 1.2611961892616819e-06, 0.00030953442910686135, 0.0003800309496000409, 0.2112538367509842, 1.6200107336044312, 3.0108602046966553, 1.851972911026678e-06, 0.0019560898654162884, 0.003096291795372963, 0.12843948602676392, 0.08455139398574829, 0.2569320499897003, 2.0571765162458178e-06, 0.0014854097971692681, 0.0022252437192946672, 5.179794788360596, 8.83627986907959, 9.095879554748535, 0.01102389208972454, 0.03282789885997772, 0.09982948750257492], "mean": [-0.1052456945180893, 0.03446913883090019, 0.14201422035694122, -0.0015067802742123604, -0.0003342402633279562, -0.0010187685256823897, -7.943504169816151e-05, 0.0029865698888897896, 0.008511997759342194, -0.0001265668252017349, -1.4980498690420063e-06, -1.1240032193882143e-07, 0.003988704644143581, 0.017127452418208122, 0.04752876237034798, -0.000491251063067466, 2.9798142350045964e-05, 3.2673611713107675e-05, -0.0009411860373802483, 0.001524036517366767, 0.004442313220351934, -9.7290838311892e-05, 2.93551670438319e-06, -2.2170257580000907e-05, -0.04026119038462639, 0.037438999861478806, 0.07423095405101776, -0.0012473143870010972, 0.00048795912880450487, -0.001424231450073421, 0.11854246258735657, 0.12112249433994293, 0.30379027128219604, -0.00312047079205513, 0.0011651806998997927, 0.0007305321632884443, -0.00020565561135299504, 0.003161057597026229, 0.009301600977778435, -0.00016634086205158383, 2.245245559606701e-05, -1.0571817256277427e-05, -0.24940814077854156, 0.35588955879211426, 0.882013201713562, -0.007187011651694775, -0.0002487800957169384, -0.0018904777243733406, 0.0009082520264200866, 0.00161519565153867, 0.0048233261331915855, -0.00010538876813370734, 1.6146530469995923e-05, 1.3079697964712977e-05, 0.3272090256214142, 0.2934224605560303, 0.29819780588150024, -0.005235504824668169, 0.0011020202655345201, 0.0051271384581923485], "std": [0.1360122710466385, 0.04274807870388031, 0.1802651584148407, 0.0018890107749029994, 0.0004597580118570477, 0.0013185236603021622, 0.00638794107362628, 0.011873213574290276, 0.032994188368320465, 0.0004842863418161869, 3.1116476748138666e-05, 0.0001094810213544406, 0.01790616661310196, 0.02839629352092743, 0.07784665375947952, 0.0007813124684616923, 0.00011203483154531568, 0.0002165541227441281, 0.0017798300832509995, 0.00268686655908823, 0.007783513516187668, 0.0001707842602627352, 1.1515162441355642e-05, 3.983468559454195e-05, 0.9299066066741943, 0.13066799938678741, 0.1221328154206276, 0.0023564351722598076, 0.0013297180412337184, 0.019073663279414177, 0.31646761298179626, 0.2380896806716919, 0.5679132342338562, 0.005627030041068792, 0.002062693005427718, 0.002545673865824938, 0.002014626981690526, 0.0037821861915290356, 0.011239622719585896, 0.0002257111918879673, 3.292918700026348e-05, 3.435161124798469e-05, 0.34170979261398315, 0.44436630606651306, 1.0386953353881836, 0.008535566739737988, 0.0008455297793261707, 0.002984116319566965, 0.008170482702553272, 0.0071177128702402115, 0.021534426137804985, 0.00046482161269523203, 0.00011266735236858949, 0.00013874155411031097, 0.9868130683898926, 1.3559941053390503, 1.2834057807922363, 0.022165875881910324, 0.004971446469426155, 0.015162654221057892], "count": [740]}, "timestamp": {"min": [0.0], "max": [24.633333333333333], "mean": [12.316666666666665], "std": [7.120646818310196], "count": [740]}, "frame_index": {"min": [0], "max": [739], "mean": [369.5], "std": [213.61940454930587], "count": [740]}, "episode_index": {"min": [4], "max": [4], "mean": [4.0], "std": [0.0], "count": [740]}, "index": {"min": [2885], "max": [3624], "mean": [3254.5], "std": [213.61940454930587], "count": [740]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [740]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.536127507686615]], [[0.5358271598815918]], [[0.5374680757522583]]], "std": [[[0.28002142906188965]], [[0.28006818890571594]], [[0.2807815670967102]]], "count": [740]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.21425890922546387]], [[0.21377696096897125]], [[0.20941106975078583]]], "std": [[[0.14519022405147552]], [[0.14556154608726501]], [[0.1460389792919159]]], "count": [740]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2990899085998535]], [[0.30026885867118835]], [[0.3003135025501251]]], "std": [[[0.17029902338981628]], [[0.17206081748008728]], [[0.17164316773414612]]], "count": [740]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5339918732643127]], [[0.5339226722717285]], [[0.5353741645812988]]], "std": [[[0.28262361884117126]], [[0.2827812731266022]], [[0.2834031283855438]]], "count": [740]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.4274509847164154]], [[0.4274509847164154]], [[0.4274509847164154]]], "mean": [[[0.0003116928564850241]], [[0.0003116928564850241]], [[0.0003116928564850241]]], "std": [[[0.006704248953610659]], [[0.006704248953610659]], [[0.006704248953610659]]], "count": [740]}, "observation.images.tactile_raw": {"min": [[[0.08235294371843338]], [[0.08235294371843338]], [[0.08235294371843338]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5084951519966125]], [[0.5084951519966125]], [[0.5084951519966125]]], "std": [[[0.23625773191452026]], [[0.23625773191452026]], [[0.23625773191452026]]], "count": [740]}}}
+{"episode_index": 5, "stats": {"observation.state": {"min": [0.9748303890228271, -0.8685398101806641, -0.23090486228466034, 0.9744466543197632, -0.9281599521636963, -0.7700386047363281, 0.13260892033576965, 0.009210914373397827, -0.2910405099391937, -0.00247342512011528, -0.021915538236498833, 0.01058370154350996, 0.012456809170544147, -0.1464954912662506, 0.011042505502700806, 0.010207594372332096, -0.008730730973184109, -0.13766591250896454, 0.0170785840600729, 0.003111054887995124, -0.025643672794103622, -0.04318561404943466, 0.014215843752026558, 0.011046106927096844, 0.031667329370975494, -0.003321799449622631, -0.040086302906274796, 0.011327574960887432, 0.0035110225435346365, 0.8581010103225708, -0.9019730687141418, -0.23357291519641876, 0.868331253528595, -2.030897378921509, -0.767288088798523, 0.06598453968763351, 0.012327050790190697, -0.28018707036972046, 0.022319350391626358, -0.11429423838853836, 0.018552858382463455, 0.00316823273897171, -0.1586812436580658, 0.008494972251355648, 0.009996968321502209, 0.014070240780711174, -0.05170021206140518, 0.015170327387750149, 0.006853544153273106, -0.025348804891109467, 0.0024830703623592854, 0.010241194628179073, 0.006003502756357193, 0.014157499186694622, -0.11681763827800751, -0.021353619173169136, 0.010527681559324265, 0.0027931209187954664, 0.5620121955871582, -1.1069588661193848, 0.5443714261054993, -0.0027803401462733746, 0.0001917476038215682, -0.010546118021011353, -0.7581700086593628], "max": [1.2902636528015137, -0.5197417140007019, -9.587379281583708e-07, 1.5700103044509888, 0.13002440333366394, -0.1998935043811798, 0.5200180411338806, 1.3118867874145508, -0.00362618756480515, 0.2569787800312042, 0.13655240833759308, 0.20625878870487213, 0.6332827806472778, 0.015038006007671356, 0.4430355429649353, 0.5178713798522949, 0.7657396793365479, 0.04155278950929642, 0.4537723958492279, 0.3518529534339905, 0.6750442981719971, 0.08917048573493958, 0.36198386549949646, 0.4262925982475281, 0.12655586004257202, 0.08614256978034973, 0.019896207377314568, 0.6085110902786255, 1.2912191152572632, 1.3663133382797241, -0.4972141683101654, -0.0017771406564861536, 1.5680049657821655, 0.22058260440826416, -0.0902993381023407, 0.6785795092582703, 1.385231614112854, 0.009673264808952808, 0.4861358404159546, 0.1371452510356903, 0.654776930809021, 0.6717666983604431, 0.11688532680273056, 0.4094034731388092, 0.5438945293426514, 0.7030496001243591, 0.16954399645328522, 0.8364691138267517, 0.42758646607398987, 0.8435088992118835, 0.16098938882350922, 0.36099639534950256, 0.5317341089248657, 0.054173544049263, 0.13298310339450836, 0.13392095267772675, 0.7608929872512817, 1.2920527458190918, 0.5626833438873291, -1.106767177581787, 0.5565474033355713, 0.0, 0.00920388475060463, 0.14313958585262299, -0.6004576086997986], "mean": [1.0830504894256592, -0.6849157214164734, -0.22163476049900055, 1.2907012701034546, -0.5953556895256042, -0.34906625747680664, 0.30698350071907043, 1.142530083656311, -0.225099116563797, 0.13686057925224304, 0.0900469496846199, 0.1857105791568756, 0.40605273842811584, -0.05061468109488487, 0.3178384006023407, 0.40054425597190857, 0.45789846777915955, -0.038931768387556076, 0.3313036859035492, 0.2671418786048889, 0.308261513710022, 0.023049581795930862, 0.20589520037174225, 0.2418593168258667, 0.07616399228572845, 0.040505003184080124, -0.013234565034508705, 0.3361579179763794, 0.7915917038917542, 1.153435230255127, -0.7237851619720459, -0.21992285549640656, 1.2990930080413818, -0.7116740942001343, -0.282449871301651, 0.41599753499031067, 1.168304443359375, -0.1331973373889923, 0.22326801717281342, -0.016264164820313454, 0.38632732629776, 0.4503738284111023, 0.020959842950105667, 0.2976019084453583, 0.44308707118034363, 0.40685534477233887, 0.08007992804050446, 0.633310854434967, 0.3097359836101532, 0.39779308438301086, 0.0954705998301506, 0.22128640115261078, 0.3061513304710388, 0.025573769584298134, 0.047202032059431076, 0.054087452590465546, 0.3731510639190674, 0.9598372578620911, 0.5623102188110352, -1.106866478919983, 0.5557013154029846, -0.00204563420265913, 0.006803772412240505, 0.04332124441862106, -0.7155572175979614], "std": [0.07682401686906815, 0.08168040215969086, 0.03913668915629387, 0.16000844538211823, 0.26524507999420166, 0.1193990558385849, 0.09876516461372375, 0.25069135427474976, 0.05683719366788864, 0.06959101557731628, 0.038774795830249786, 0.03247740492224693, 0.21663953363895416, 0.053810130804777145, 0.13175326585769653, 0.16001437604427338, 0.28396227955818176, 0.05190079286694527, 0.1412433236837387, 0.09897550940513611, 0.2825968861579895, 0.04554962366819382, 0.1438891887664795, 0.17297522723674774, 0.03583327680826187, 0.030303778126835823, 0.02005901373922825, 0.2314338982105255, 0.5328091979026794, 0.15198996663093567, 0.08290194720029831, 0.03814593330025673, 0.16342931985855103, 0.6920056343078613, 0.11536017060279846, 0.22158989310264587, 0.29771530628204346, 0.09094880521297455, 0.12744002044200897, 0.08299033343791962, 0.2283400595188141, 0.2074703723192215, 0.08674676716327667, 0.08837087452411652, 0.13226750493049622, 0.2523574233055115, 0.07242390513420105, 0.18737904727458954, 0.0687689557671547, 0.348129004240036, 0.05105925351381302, 0.14296087622642517, 0.21051718294620514, 0.013093703426420689, 0.06204245984554291, 0.055087361484766006, 0.2500688433647156, 0.4376034736633301, 9.492992830928415e-05, 2.8692655178019777e-05, 0.0019201008835807443, 0.0006100786267779768, 0.0011869646841660142, 0.04661225527524948, 0.029386326670646667], "count": [677]}, "observation.state.joint_torque": {"min": [-34.38600158691406, -27.698999404907227, -18.21299934387207, -18.610000610351562, -0.3736000061035156, -4.087200164794922, 0.7663999795913696, -0.8889222145080566, -0.5157786011695862, -0.5331138372421265, -0.6747804880142212, -0.06308973580598831, -0.44423192739486694, -0.6956115961074829, -0.10791664570569992, -0.025686107575893402, -0.3905019462108612, -0.7301523089408875, -0.16104483604431152, -0.027826614677906036, -0.2907176613807678, -0.29935282468795776, -0.13448072969913483, -0.033534638583660126, -0.08224280178546906, -0.35883963108062744, -0.32333943247795105, -0.16602559387683868, -0.1840837597846985, -4.072500228881836, -15.853500366210938, -7.791999816894531, -10.815999984741211, -1.9423999786376953, -4.764800071716309, -3.2544000148773193, -0.8507163524627686, -0.7131754159927368, -0.2994881868362427, -0.5989763736724854, -0.2988460958003998, -0.37994784116744995, -0.6332463622093201, -0.07637178897857666, -0.022118592634797096, -0.37227216362953186, -0.822260856628418, -0.16104483604431152, -0.013556556776165962, -0.5420973300933838, -0.6265301704406738, -0.12617947161197662, -0.05636673793196678, -0.10819106549024582, -0.477813184261322, -0.5363405346870422, -0.16104483604431152, -0.21547789871692657, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-20.375999450683594, 22.440000534057617, -9.241000175476074, 10.522000312805176, 2.563199996948242, 2.1224000453948975, 3.1287999153137207, 1.3168272972106934, 1.7370914220809937, 0.9195902943611145, 0.7543125748634338, 0.0879935771226883, 0.791558027267456, 0.4212048053741455, 0.1942499577999115, 0.039242662489414215, 0.7253549695014954, 0.4240831732749939, 0.14444229006767273, 0.02425910159945488, 0.32046106457710266, 0.40393444895744324, 0.16270509362220764, 0.03567514568567276, 0.04354030638933182, 0.32813677191734314, 0.33293411135673523, 0.11787818372249603, 0.1277170330286026, 37.18349838256836, 22.54050064086914, 17.615999221801758, 7.418000221252441, 1.1399999856948853, 2.796799898147583, 5.74399995803833, 0.8494428396224976, 2.6221930980682373, 0.8810669183731079, 0.7903505563735962, 0.19757047295570374, 1.0669242143630981, 0.5363405346870422, 0.12949997186660767, 0.02497260272502899, 1.0074374675750732, 0.3147042393684387, 0.1959102302789688, 0.027113113552331924, 0.9038153290748596, 0.9210856556892395, 0.17100638151168823, 0.028540121391415596, 0.030346276238560677, 0.8385717272758484, 1.0362213850021362, 0.36857688426971436, 0.2119103968143463, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-26.61579132080078, 2.1664111614227295, -12.740273475646973, -3.2538063526153564, 0.2738918662071228, 0.6645091772079468, 2.0741567611694336, -0.0370771586894989, 0.6154539585113525, 0.20653416216373444, 0.06175081059336662, -0.03384033590555191, 0.3195030093193054, -0.041901811957359314, 0.03838950768113136, 0.0036897705867886543, 0.2699085772037506, -0.11251674592494965, 0.0297080110758543, 0.0044486019760370255, 0.006349182687699795, 0.018072504550218582, -0.011349557898938656, 0.003021577373147011, -0.031935207545757294, -0.013014260679483414, -0.04472911357879639, 0.01276699174195528, 0.006879953667521477, 25.377269744873047, 2.9264721870422363, 12.353860855102539, -2.4211792945861816, -0.2201690375804901, 0.6271908283233643, -1.141477346420288, 0.026680218055844307, 0.8619524240493774, 0.3023940920829773, -0.006795359775424004, 0.012990227900445461, 0.4423215091228485, -0.008618136867880821, 0.040285106748342514, 0.007808479014784098, 0.3117266893386841, -0.1834702491760254, 0.0735049769282341, 0.01283357385545969, 0.21845018863677979, -0.04343954846262932, 0.04121698811650276, 0.005025085527449846, -0.03058408387005329, 0.0489085391163826, 0.04087286442518234, 0.03729567304253578, 0.008461913093924522, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.6493960618972778, 2.371319055557251, 1.5078976154327393, 1.480921983718872, 0.30011633038520813, 0.5660130977630615, 0.4973740875720978, 0.5273227095603943, 0.7399972081184387, 0.36319422721862793, 0.23408156633377075, 0.019677981734275818, 0.359976589679718, 0.19393567740917206, 0.05888812988996506, 0.01046987995505333, 0.33721473813056946, 0.24957311153411865, 0.06279096752405167, 0.008416841737926006, 0.1368383914232254, 0.11806897073984146, 0.06018690764904022, 0.011706387624144554, 0.021474337205290794, 0.16218747198581696, 0.09052092581987381, 0.05210322514176369, 0.017059097066521645, 4.939968585968018, 2.785386562347412, 3.7069690227508545, 1.3556172847747803, 0.43117573857307434, 1.2474614381790161, 1.4099022150039673, 0.43113163113594055, 1.028679370880127, 0.3800065219402313, 0.3410697281360626, 0.061332568526268005, 0.4821068346500397, 0.28431248664855957, 0.04176400974392891, 0.008596645668148994, 0.43025678396224976, 0.22355617582798004, 0.07607375085353851, 0.009605927392840385, 0.3136078715324402, 0.2620485723018646, 0.07865903526544571, 0.012262816540896893, 0.032317277044057846, 0.18384787440299988, 0.28477513790130615, 0.06719745695590973, 0.03773431479930878, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [677]}, "observation.state.tcp": {"min": [0.3431329131126404, 0.14288246631622314, 0.9013016819953918, -1.2492738962173462, 1.2176812887191772, -1.3903988599777222, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.32174623012542725, -0.2763938307762146, 0.8638072609901428, -1.0802770853042603, 1.2188475131988525, 0.5494939088821411, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.41892576217651367, 0.2467101514339447, 1.0608123540878296, -0.24076801538467407, 2.0742194652557373, -0.7919387221336365, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4267978072166443, -0.10255314409732819, 1.1081753969192505, 1.2550432682037354, 1.8253930807113647, 1.5669939517974854, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3629782497882843, 0.19476358592510223, 0.9640948176383972, -0.5516835451126099, 1.830208659172058, -1.1280097961425781, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3779553472995758, -0.20330198109149933, 1.005043625831604, 0.3480484187602997, 1.5841147899627686, 1.1295456886291504, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.019251832738518715, 0.035345371812582016, 0.04471598565578461, 0.2578010857105255, 0.19927096366882324, 0.15715797245502472, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.02282049134373665, 0.05341234803199768, 0.07023528963327408, 0.7546497583389282, 0.1581273376941681, 0.31102362275123596, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [677]}, "action": {"min": [0.9748448133468628, -0.8686166405677795, -0.23086410760879517, 0.9743654727935791, -0.9281542897224426, -0.7699999809265137, 0.13259346783161163, 0.0, -0.29613950848579407, 0.0, -0.015152992680668831, 0.0, 0.0, -0.1556956171989441, 0.0, 0.0, 0.0, -0.14140692353248596, 0.0, 0.0, 0.0, -0.07537519931793213, 0.0, 0.0, -9.902237252390478e-09, 0.0, -0.10752478241920471, 0.0, 0.0, 0.8581663966178894, -0.9020766019821167, -0.2335485816001892, 0.8683290481567383, -2.0308947563171387, -0.7632399201393127, 0.06509830802679062, 0.0, -0.28265562653541565, 0.0, -0.12911772727966309, 0.0, 0.0, -0.17023049294948578, 0.0, 0.0, 0.0, -0.0656522586941719, 0.0, 0.0, 0.0, -0.008653588593006134, 0.0, 0.0, -9.916484522420888e-09, -0.001021060743369162, -0.06665676087141037, 0.0, 0.0, 0.5622998476028442, -1.1068999767303467, 0.5442000031471252, -0.003191728377714753, -8.952631604352766e-19, -0.010619406588375568, -0.7583306431770325], "max": [1.2902696132659912, -0.519731879234314, 3.438771992912851e-18, 1.5700000524520874, 0.1300048828125, -0.1998009979724884, 0.5199999809265137, 1.3672252893447876, 0.0, 0.3173271119594574, 0.15176473557949066, 0.23861972987651825, 0.6838085651397705, 0.024992838501930237, 0.4916214048862457, 0.5364051461219788, 0.8412041664123535, 0.044934120029211044, 0.4892330467700958, 0.3685491979122162, 0.6785783171653748, 0.10911194235086441, 0.38134536147117615, 0.4416227340698242, 0.12626121938228607, 0.09186840057373047, 0.020736634731292725, 0.6295077204704285, 1.389062523841858, 1.3662976026535034, -0.497201532125473, -0.0031657926738262177, 1.5677480697631836, 0.22117651998996735, -0.09021724760532379, 0.6787865161895752, 1.4206600189208984, 0.08249440789222717, 0.48988571763038635, 0.141804501414299, 0.6801539063453674, 0.7943337559700012, 0.12802331149578094, 0.4422887861728668, 0.557075023651123, 0.7800778150558472, 0.1556202471256256, 0.8863359689712524, 0.4423017203807831, 0.8992196917533875, 0.1623174399137497, 0.40411409735679626, 0.549077570438385, 0.030288079753518105, 0.14255887269973755, 0.13949064910411835, 0.7764225006103516, 1.3965394496917725, 0.5626999735832214, -1.106863021850586, 0.5568867325782776, 2.9812243266082917e-19, 0.010930919088423252, 0.14337299764156342, -0.6000000238418579], "mean": [1.0832968950271606, -0.6850074529647827, -0.22163066267967224, 1.2907227277755737, -0.5959022641181946, -0.3487361669540405, 0.3070530295372009, 1.1372624635696411, -0.19373252987861633, 0.16327470541000366, 0.09182552993297577, 0.17626509070396423, 0.4476047456264496, -0.052469249814748764, 0.32604068517684937, 0.4028562903404236, 0.4940750300884247, -0.04492208734154701, 0.3388202488422394, 0.27176371216773987, 0.30913862586021423, 0.01904507540166378, 0.203115314245224, 0.24530309438705444, 0.05787527933716774, 0.03890576213598251, -0.035509489476680756, 0.3404521346092224, 0.8138417601585388, 1.1537666320800781, -0.7241821885108948, -0.21992111206054688, 1.2991043329238892, -0.7084332704544067, -0.2826294004917145, 0.4163152575492859, 1.1673544645309448, -0.08949530869722366, 0.2618039548397064, -0.017098337411880493, 0.3891845941543579, 0.5187463760375977, 0.021687408909201622, 0.30834832787513733, 0.45125120878219604, 0.45486319065093994, 0.07183492183685303, 0.6512253880500793, 0.32263776659965515, 0.4265727698802948, 0.09380184859037399, 0.23271848261356354, 0.31253960728645325, 0.0017105946317315102, 0.05366557836532593, 0.055808182805776596, 0.3835318982601166, 0.9900844693183899, 0.5623127222061157, -1.1068685054779053, 0.5557432174682617, -0.002091378439217806, 0.006842798553407192, 0.04336286708712578, -0.7155685424804688], "std": [0.07711894065141678, 0.08178053051233292, 0.03923668712377548, 0.1600532978773117, 0.2634684145450592, 0.11947567015886307, 0.09878566116094589, 0.27550575137138367, 0.08026459813117981, 0.09985527396202087, 0.04139936342835426, 0.03904975205659866, 0.2540140450000763, 0.056092966347932816, 0.14448049664497375, 0.16654877364635468, 0.31917303800582886, 0.05403962358832359, 0.1516266018152237, 0.10344912856817245, 0.28782397508621216, 0.05488133803009987, 0.15044797956943512, 0.18360522389411926, 0.046019699424505234, 0.03543930500745773, 0.04325437918305397, 0.24578751623630524, 0.568315327167511, 0.1517566293478012, 0.083150714635849, 0.03823798522353172, 0.16339300572872162, 0.6896706223487854, 0.11613932996988297, 0.22144289314746857, 0.3138647675514221, 0.1372252255678177, 0.11002091318368912, 0.08418327569961548, 0.2326595038175583, 0.2700410485267639, 0.08977101743221283, 0.09941621869802475, 0.14195722341537476, 0.3036074936389923, 0.06708244234323502, 0.20570065081119537, 0.07933420687913895, 0.37797704339027405, 0.05080016702413559, 0.15614762902259827, 0.21879912912845612, 0.005480468738824129, 0.05363239720463753, 0.05877569317817688, 0.255744606256485, 0.4639112949371338, 6.977390876272693e-05, 7.321520570258144e-06, 0.0020429675932973623, 0.0006202335353009403, 0.0013105750549584627, 0.04667056351900101, 0.029760010540485382], "count": [677]}, "observation.state.tcp_pose": {"min": [0.3431329131126404, 0.14288246631622314, 0.9013016819953918, -1.2492738962173462, 1.2176812887191772, -1.3903988599777222, 0.32174623012542725, -0.2763938307762146, 0.8638072609901428, -1.0802770853042603, 1.2188475131988525, 0.5494939088821411], "max": [0.41892576217651367, 0.2467101514339447, 1.0608123540878296, -0.24076801538467407, 2.0742194652557373, -0.7919387221336365, 0.4267978072166443, -0.10255314409732819, 1.1081753969192505, 1.2550432682037354, 1.8253930807113647, 1.5669939517974854], "mean": [0.3629782497882843, 0.19476358592510223, 0.9640948176383972, -0.5516835451126099, 1.830208659172058, -1.1280097961425781, 0.3779553472995758, -0.20330198109149933, 1.005043625831604, 0.3480484187602997, 1.5841147899627686, 1.1295456886291504], "std": [0.019251832738518715, 0.035345371812582016, 0.04471598565578461, 0.2578010857105255, 0.19927096366882324, 0.15715797245502472, 0.02282049134373665, 0.05341234803199768, 0.07023528963327408, 0.7546497583389282, 0.1581273376941681, 0.31102362275123596], "count": [677]}, "action.tcp_pose": {"min": [0.3423568904399872, 0.14280357956886292, 0.9012300968170166, -1.232563853263855, 1.2178406715393066, -1.3909785747528076, 0.32111191749572754, -0.27622300386428833, 0.8632417321205139, -1.0803052186965942, 1.2211967706680298, 0.5499741435050964], "max": [0.41808629035949707, 0.24717479944229126, 1.060966968536377, -0.2403559535741806, 2.074143648147583, -0.7920939326286316, 0.42666858434677124, -0.10253815352916718, 1.1081428527832031, 1.2547290325164795, 1.8264600038528442, 1.5664396286010742], "mean": [0.3630324602127075, 0.194786936044693, 0.9642094373703003, -0.5509067177772522, 1.8303046226501465, -1.1283730268478394, 0.3781310021877289, -0.20356622338294983, 1.0052204132080078, 0.3511449098587036, 1.5839225053787231, 1.1306426525115967], "std": [0.019299248233437538, 0.03530358150601387, 0.04492214322090149, 0.2555657923221588, 0.19884532690048218, 0.1575596034526825, 0.02282734215259552, 0.053459879010915756, 0.07019707560539246, 0.7521805167198181, 0.1577974408864975, 0.30969592928886414], "count": [677]}, "subtask_index": {"min": [0], "max": [4], "mean": [1.9364844903988183], "std": [1.3370467429163442], "count": [677]}, "observation.tactile": {"min": [-0.04495789483189583, -4.5411659812089056e-05, -0.00010540182120166719, -0.0009374225046485662, -0.00011231658572796732, -0.00042167212814092636, -0.008219183422625065, -4.5859109377488494e-05, -0.00010569630831014365, -0.0009372080094181001, -5.104813681100495e-05, -0.0002097461256198585, -0.13370510935783386, -3.6114313843427226e-05, -7.624773570569232e-05, -0.023711172863841057, -0.002751607447862625, -0.0029032446909695864, -0.008527342230081558, -3.570268745534122e-05, -8.214644913095981e-05, -0.0008240722236223519, -5.250600224826485e-05, -0.00019113790767733008, -1.1494392156600952, -4.6876826672814786e-05, -0.01578344590961933, -0.00570683553814888, -0.0010331673547625542, -0.025524253025650978, -0.004170868545770645, -3.8260986912064254e-05, -8.473615162074566e-05, -0.0436711423099041, -1.831850795497303e-06, -0.0016028869431465864, -0.0059836991131305695, -3.26409972331021e-05, -7.236107194330543e-05, -0.0009306049323640764, -2.4247659894172102e-05, -0.0001439872576156631, -2.1875195503234863, -4.220186383463442e-05, -9.693540050648153e-05, -0.03911029174923897, -0.0038257623091340065, -0.020955897867679596, -0.008522427640855312, -3.66351378033869e-05, -8.237874862970784e-05, -0.008434448391199112, -3.432448284002021e-05, -0.00019202372641302645, -0.0029867675621062517, -1.0205937623977661, -1.3957685232162476, -0.05586042255163193, -0.010731096379458904, -7.693828229093924e-05], "max": [0.0056396289728581905, 0.01710558868944645, 0.05318183824419975, 1.998621428356273e-06, 0.0003015885304193944, 1.915591928991489e-05, 0.0040857684798538685, 0.01413196325302124, 0.04019487276673317, 1.9707358660525642e-06, 0.00014829312567599118, 3.4226581192342564e-05, 1.2027027606964111, 2.0098538398742676, 2.7334086894989014, 1.3764682762484881e-06, 0.0034162094816565514, 0.012424838729202747, 0.0012441033031791449, 0.014475595206022263, 0.04030986502766609, 1.4949598607927328e-06, 0.00013050517009105533, 5.858521490154089e-06, 0.32330968976020813, 0.1596730649471283, 0.2606511116027832, 0.0007023208308964968, 0.0016526930266991258, 0.007249486166983843, 2.4543404579162598, 1.6647520065307617, 3.8772025108337402, 1.6180848660951597e-06, 0.01809810660779476, 0.02115497924387455, 0.014461211860179901, 0.01708310842514038, 0.04861664026975632, 1.3043093076703371e-06, 0.00020917702931910753, 0.00018192706920672208, 0.12138698995113373, 1.960470199584961, 4.205422878265381, 1.8074495073960861e-06, 0.0038255241233855486, 0.0020441452506929636, 1.3792505264282227, 0.09566734731197357, 0.5813730359077454, 1.5033151612442452e-06, 0.0026778527535498142, 0.019908644258975983, 6.6634087562561035, 6.22636604309082, 2.8539366722106934, 0.03566405549645424, 0.01406094990670681, 0.12013056129217148], "mean": [0.00010204898717347533, 0.0011008065193891525, 0.0032394579611718655, -5.110107304062694e-05, 1.386343501508236e-05, -1.4128535212876159e-06, -0.0002750509884208441, 0.0008112678769975901, 0.0023836714681237936, -5.02697002957575e-05, -5.63466699077253e-07, -6.206450052559376e-06, 0.0440465547144413, 0.16306205093860626, 0.2794170677661896, -0.002778192749246955, 0.00016353813407476991, 0.00035975559148937464, -0.0006304301205091178, 0.0011692834086716175, 0.0033584663178771734, -7.548186840722337e-05, -2.190666009482811e-06, -1.4154841665003914e-05, -0.012323797680437565, 0.002730186330154538, 0.0067511433735489845, -0.00014587062469217926, -1.6815678804960044e-07, -0.0002684147621039301, 0.23441030085086823, 0.24816015362739563, 0.651561975479126, -0.006967957131564617, 0.002633211202919483, 0.001503131934441626, 0.0004573140467982739, 0.0037112291902303696, 0.010785208083689213, -0.00017645591287873685, 3.880499934894033e-05, -5.162873094377574e-06, -0.5923978686332703, 0.3644334673881531, 1.4780772924423218, -0.013159875757992268, -0.0003994265280198306, -0.005286240950226784, 0.012767021544277668, 0.0036608416121453047, 0.013865781016647816, -0.0002515180385671556, 4.860233821091242e-05, 0.00017810688586905599, 0.2859309911727905, 0.1674734205007553, 0.06617192924022675, -0.0009983840864151716, 0.00010424250649521127, 0.005365859717130661], "std": [0.0020086944568902254, 0.002903403015807271, 0.008476492948830128, 0.00013965940161142498, 4.405618892633356e-05, 2.505560223653447e-05, 0.0014650387456640601, 0.0020994225051254034, 0.006103212479501963, 0.00012949309893883765, 1.2758891898556612e-05, 3.188571281498298e-05, 0.12032786756753922, 0.4080141484737396, 0.6419737339019775, 0.005817387253046036, 0.0006856102263554931, 0.0011315126903355122, 0.0015273747267201543, 0.0021481579169631004, 0.006202526856213808, 0.00013925108942203224, 1.1069565516663715e-05, 3.3040938433259726e-05, 0.11144638806581497, 0.011600008234381676, 0.02536807395517826, 0.0005609318614006042, 0.0001434198784409091, 0.0024633167777210474, 0.5314034223556519, 0.41162389516830444, 1.0498416423797607, 0.011283952742815018, 0.004047623835504055, 0.004522350151091814, 0.002207122277468443, 0.0045901029370725155, 0.013389123603701591, 0.00022322010772768408, 5.584888276644051e-05, 3.0652568966615945e-05, 0.6851929426193237, 0.48227208852767944, 1.6251157522201538, 0.014687016606330872, 0.0011415986809879541, 0.006413496099412441, 0.117281973361969, 0.009289368987083435, 0.051874175667762756, 0.0007916396134532988, 0.0002277922903886065, 0.001698715379461646, 1.0766197443008423, 0.8724539279937744, 0.44079285860061646, 0.009243171662092209, 0.0023481687530875206, 0.020060895010828972], "count": [677]}, "timestamp": {"min": [0.0], "max": [22.533333333333335], "mean": [11.266666666666666], "std": [6.51442843062826], "count": [677]}, "frame_index": {"min": [0], "max": [676], "mean": [338.0], "std": [195.4328529188478], "count": [677]}, "episode_index": {"min": [5], "max": [5], "mean": [5.0], "std": [0.0], "count": [677]}, "index": {"min": [3625], "max": [4301], "mean": [3963.0], "std": [195.4328529188478], "count": [677]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [677]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5333415865898132]], [[0.5329440832138062]], [[0.5346398949623108]]], "std": [[[0.28060945868492126]], [[0.2806396782398224]], [[0.28133624792099]]], "count": [677]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2221534103155136]], [[0.22174596786499023]], [[0.21723513305187225]]], "std": [[[0.1486668437719345]], [[0.14902770519256592]], [[0.14941450953483582]]], "count": [677]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29846468567848206]], [[0.29982155561447144]], [[0.3002350330352783]]], "std": [[[0.17094066739082336]], [[0.17305052280426025]], [[0.17330302298069]]], "count": [677]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.532075822353363]], [[0.5319370627403259]], [[0.5334561467170715]]], "std": [[[0.2829117774963379]], [[0.2830330431461334]], [[0.2836342751979828]]], "count": [677]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.42352941632270813]], [[0.42352941632270813]], [[0.42352941632270813]]], "mean": [[[0.0005538995028473437]], [[0.0005538995028473437]], [[0.0005538995028473437]]], "std": [[[0.010996595956385136]], [[0.010996595956385136]], [[0.010996595956385136]]], "count": [677]}, "observation.images.tactile_raw": {"min": [[[0.08627451211214066]], [[0.08627451211214066]], [[0.08627451211214066]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.508307695388794]], [[0.508307695388794]], [[0.508307695388794]]], "std": [[[0.23625940084457397]], [[0.23625940084457397]], [[0.23625940084457397]]], "count": [677]}}}
+{"episode_index": 6, "stats": {"observation.state": {"min": [0.9736467003822327, -0.8380281925201416, -0.2308736890554428, 1.0101875066757202, -0.9959124326705933, -0.770041286945343, 0.12525241076946259, 0.009328354150056839, -0.2917915880680084, -0.01866309717297554, -0.086832195520401, 0.013748175464570522, 0.015641726553440094, -0.15222163498401642, 0.010928691364824772, 0.00712580606341362, 0.005316203460097313, -0.1713232696056366, 0.017315076664090157, 0.00783572532236576, -0.005516135133802891, -0.05011597275733948, 0.01597731187939644, 0.010699794627726078, 0.03313584625720978, -0.050421878695487976, -0.07140163332223892, 0.011488191783428192, 0.003263592254370451, 0.899466335773468, -0.9698073267936707, -0.23365294933319092, 0.8482053279876709, -2.145179271697998, -0.7669388651847839, -0.04904352128505707, 0.01231313869357109, -0.2910659909248352, 0.02214263565838337, -0.1207648366689682, 0.01491256058216095, 0.001428464544005692, -0.1708645224571228, 0.008547092787921429, 0.009232064709067345, 0.015734698623418808, -0.08737993240356445, 0.01844613440334797, 0.007237992249429226, -0.010893912054598331, -0.03232995793223381, 0.010424857959151268, 0.010327762924134731, 0.029340390115976334, -0.07386091351509094, -0.02844933234155178, 0.010745028033852577, 0.0028374630492180586, 0.5620121955871582, -1.1069588661193848, 0.5442755818367004, -0.0031638352666050196, 0.0001917476038215682, -0.004314321093261242, -0.7856857776641846], "max": [1.2694766521453857, -0.5119306445121765, 2.912166564783547e-05, 1.570024013519287, 0.03338661417365074, -0.19395029544830322, 0.5200425982475281, 1.3846642971038818, -0.003591136308386922, 0.29435402154922485, 0.11903975903987885, 0.24144244194030762, 0.5954641103744507, 0.007568666245788336, 0.49781444668769836, 0.5481629371643066, 0.7324657440185547, 0.05970306694507599, 0.3682592809200287, 0.32808637619018555, 0.4523971676826477, 0.07185447961091995, 0.2998477816581726, 0.37306541204452515, 0.2517288327217102, 0.0378124862909317, -0.001306298072449863, 0.7407914400100708, 1.2991962432861328, 1.3841112852096558, -0.5601109862327576, -0.0022041387856006622, 1.5675122737884521, 0.16751118004322052, -0.10596247762441635, 0.6727321743965149, 1.4310712814331055, 0.01133224368095398, 0.5009246468544006, 0.14096267521381378, 0.6553102135658264, 0.6785687208175659, 0.11226975917816162, 0.44531962275505066, 0.5379424691200256, 0.7486996054649353, 0.17345036566257477, 0.7222530841827393, 0.3859317898750305, 0.7952278852462769, 0.16609683632850647, 0.3146330714225769, 0.3699951767921448, 0.048379749059677124, 0.12917853891849518, 0.12835697829723358, 0.7290369272232056, 1.2919511795043945, 0.5627791881561279, -1.106767177581787, 0.5565474033355713, 0.0, 0.00920388475060463, 0.1420849710702896, -0.600361704826355], "mean": [1.0808143615722656, -0.6935549378395081, -0.22232209146022797, 1.3080471754074097, -0.6088520884513855, -0.38800519704818726, 0.2946729362010956, 1.1676998138427734, -0.2027425467967987, 0.14051377773284912, 0.062098030000925064, 0.18535937368869781, 0.3746577799320221, -0.05969163030385971, 0.32514843344688416, 0.40568163990974426, 0.4200495779514313, -0.03498345613479614, 0.24124285578727722, 0.2337932139635086, 0.17941045761108398, 0.010770311579108238, 0.16741718351840973, 0.213670015335083, 0.14563874900341034, 0.026445839554071426, -0.03194742277264595, 0.31544026732444763, 0.8801053762435913, 1.1496602296829224, -0.717747688293457, -0.2201184332370758, 1.2878743410110474, -0.7620331645011902, -0.2477196455001831, 0.3694523274898529, 1.213690996170044, -0.1238313540816307, 0.20221103727817535, -0.036435045301914215, 0.3877115249633789, 0.40072253346443176, 0.005440729204565287, 0.2883216142654419, 0.38634204864501953, 0.3820100426673889, 0.06357134878635406, 0.5342115759849548, 0.29438069462776184, 0.3421704173088074, 0.08764538168907166, 0.1797381341457367, 0.20322731137275696, 0.03240719065070152, 0.03553999960422516, 0.05338229611515999, 0.3239476680755615, 0.8040555119514465, 0.562311589717865, -1.1068692207336426, 0.5556336045265198, -0.002271360484883189, 0.006835293490439653, 0.044464632868766785, -0.7479204535484314], "std": [0.06985175609588623, 0.07316998392343521, 0.03765661269426346, 0.14882007241249084, 0.2549101710319519, 0.09520165622234344, 0.1296783983707428, 0.2733481526374817, 0.06988933682441711, 0.07152091711759567, 0.056967075914144516, 0.032322484999895096, 0.203044593334198, 0.058111052960157394, 0.14575918018817902, 0.17358613014221191, 0.26826179027557373, 0.07602880150079727, 0.11182831972837448, 0.10838446021080017, 0.15867136418819427, 0.042573824524879456, 0.11426077038049698, 0.14664115011692047, 0.06483317911624908, 0.013613186776638031, 0.008283890783786774, 0.211409330368042, 0.47957152128219604, 0.17814280092716217, 0.0823509469628334, 0.03588055819272995, 0.20506301522254944, 0.7121919393539429, 0.12367966026067734, 0.27727657556533813, 0.2992474436759949, 0.10148191452026367, 0.10868953168392181, 0.08532532304525375, 0.2274233102798462, 0.21333321928977966, 0.08825989067554474, 0.10977829992771149, 0.1393619030714035, 0.28286466002464294, 0.0891880914568901, 0.1317576915025711, 0.05795195326209068, 0.3332242965698242, 0.06226605921983719, 0.13369865715503693, 0.15972833335399628, 0.005684353411197662, 0.045013293623924255, 0.05076487734913826, 0.25507184863090515, 0.5193668603897095, 0.00010154143819818273, 3.1790390494279563e-05, 0.001864457386545837, 0.0005955679225735366, 0.0011344554368406534, 0.04676397517323494, 0.03773188591003418], "count": [719]}, "observation.state.joint_torque": {"min": [-33.592498779296875, -14.974499702453613, -16.95800018310547, -10.814000129699707, -0.4896000027656555, -2.613600015640259, -1.516800045967102, -0.8176047205924988, -0.4113493859767914, -0.6337717175483704, -0.7356722354888916, -0.06973075866699219, -0.42024534940719604, -0.5142728090286255, -0.09961536526679993, -0.04209667816758156, -0.35212334990501404, -1.0208699703216553, -0.12949997186660767, -0.02354559674859047, -0.29935285449028015, -0.29935282468795776, -0.0979551151394844, -0.019978083670139313, -0.08752042055130005, -0.3530828356742859, -0.17078463733196259, -0.11953844130039215, -0.10060391575098038, 3.379499912261963, -8.488499641418457, -3.8610000610351562, -6.801000118255615, -1.80239999294281, -3.240000009536743, -3.432800054550171, -1.032830834388733, -0.8048694133758545, -0.3280700445175171, -0.49334776401519775, -0.08633331209421158, -0.3434881865978241, -0.6543546319007874, -0.07305127382278442, -0.01712406985461712, -0.4336778223514557, -0.9738562107086182, -0.10957689583301544, -0.020691584795713425, -0.5267458558082581, -0.44902926683425903, -0.12119869887828827, -0.03638865053653717, -0.09367763251066208, -0.3761099874973297, -0.5497729778289795, -0.24903841316699982, -0.16481918096542358, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-14.182499885559082, 13.231499671936035, -3.325000047683716, 5.761000156402588, 1.8559999465942383, 2.1040000915527344, 3.228800058364868, 1.111789584159851, 1.9930706024169922, 0.7978067398071289, 0.831359326839447, 0.19258970022201538, 0.8500853180885315, 0.5344216227531433, 0.1328205019235611, 0.05850724130868912, 0.5958272814750671, 0.4164074957370758, 0.11953844130039215, 0.026399608701467514, 0.3406098186969757, 0.34636661410331726, 0.1411217600107193, 0.0321076326072216, 0.048378121107816696, 0.5632054805755615, 0.7455036640167236, 0.12617947161197662, 0.07206379622220993, 41.326499938964844, 23.446500778198242, 18.895999908447266, 9.4399995803833, 1.7208000421524048, 2.759200096130371, 7.641600131988525, 0.6915254592895508, 2.2605113983154297, 1.0600141286849976, 0.8537276983261108, 0.3619358241558075, 1.0103157758712769, 0.49892139434814453, 0.23575636744499207, 0.05422622710466385, 1.471818208694458, 0.30894750356674194, 0.2639807164669037, 0.03496164828538895, 0.6188544631004333, 1.3029524087905884, 0.2042115032672882, 0.04352368041872978, 0.014073634520173073, 0.6236518025398254, 1.3969799280166626, 0.6474998593330383, 0.21405088901519775, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-26.312877655029297, 2.1089396476745605, -12.61422348022461, -3.337575912475586, 0.35881829261779785, 0.6697956323623657, 1.988755226135254, 0.2014244645833969, 0.6520479917526245, 0.23425492644309998, 0.13766708970069885, 0.04754006117582321, 0.31320592761039734, 0.04527897760272026, 0.02371462993323803, 0.0003761006228160113, 0.19691433012485504, -0.007810473907738924, -0.006042965222150087, 0.00020839404896833003, 0.06578405201435089, 0.0913625955581665, 0.013868588022887707, 0.0034871345851570368, -0.01810465194284916, -0.04146655648946762, 0.024398883804678917, -0.0009467463241890073, 0.003925757948309183, 25.395166397094727, 3.20029878616333, 12.240291595458984, -2.066678285598755, -0.1925072818994522, 0.6609938144683838, -0.9681426286697388, 0.03806586563587189, 0.712051272392273, 0.3807986378669739, -0.007756900507956743, 0.10087831318378448, 0.3719145953655243, -0.004617185797542334, 0.037248387932777405, -0.0021444791927933693, 0.5183136463165283, -0.17567673325538635, 0.08097156882286072, 0.014140061102807522, 0.07319550216197968, 0.0343765988945961, 0.021731093525886536, 0.0032549258321523666, -0.03921203687787056, 0.030616091564297676, 0.0747034102678299, 0.02038721926510334, 0.009156466461718082, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.128833293914795, 2.011789083480835, 1.7672234773635864, 1.37139892578125, 0.32110127806663513, 0.6200205087661743, 0.6069092750549316, 0.42518049478530884, 0.8508613109588623, 0.4428258538246155, 0.2357010543346405, 0.09520836919546127, 0.3700403869152069, 0.1972276121377945, 0.03910669684410095, 0.01247442327439785, 0.27681711316108704, 0.15734556317329407, 0.051376279443502426, 0.00973293837159872, 0.1775050014257431, 0.17020884156227112, 0.0626407116651535, 0.011544746346771717, 0.029231136664748192, 0.16636314988136292, 0.13866643607616425, 0.0526479072868824, 0.01660548523068428, 4.4781928062438965, 3.8368539810180664, 3.6867449283599854, 2.0080959796905518, 0.512230396270752, 1.1055792570114136, 1.6389524936676025, 0.3254126310348511, 0.8966557383537292, 0.45490965247154236, 0.24652217328548431, 0.13867399096488953, 0.4572996497154236, 0.23936939239501953, 0.04087575897574425, 0.009665842168033123, 0.6310615539550781, 0.2625296115875244, 0.11854363977909088, 0.013148363679647446, 0.2053879201412201, 0.2476385235786438, 0.09153709560632706, 0.011531965807080269, 0.02104322426021099, 0.17419785261154175, 0.31235823035240173, 0.08816048502922058, 0.041822027415037155, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [719]}, "observation.state.tcp": {"min": [0.32713329792022705, 0.1481451392173767, 0.8945963382720947, -1.212552785873413, 1.2175482511520386, -1.3519092798233032, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3310120403766632, -0.30677464604377747, 0.8768520355224609, -1.1739082336425781, 1.219713568687439, 0.40136703848838806, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4177910387516022, 0.2583944499492645, 1.0540891885757446, -0.18099835515022278, 1.9917142391204834, -0.7905293703079224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4460790157318115, -0.07756030559539795, 1.112696886062622, 1.210532784461975, 1.894276738166809, 1.5742403268814087, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.36116793751716614, 0.19642199575901031, 0.9650207161903381, -0.5551456809043884, 1.8078596591949463, -1.1003104448318481, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3751925230026245, -0.20595677196979523, 1.0007315874099731, 0.3151896893978119, 1.6197280883789062, 1.059718132019043, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.0233575701713562, 0.03502373397350311, 0.04145551100373268, 0.23770283162593842, 0.19076205790042877, 0.11313103884458542, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.02571936883032322, 0.06544555723667145, 0.08238356560468674, 0.760041356086731, 0.17649662494659424, 0.34191426634788513, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [719]}, "action": {"min": [0.9736943244934082, -0.8381288051605225, -0.23086410760879517, 1.0100305080413818, -0.9960329532623291, -0.7699999809265137, 0.125115305185318, 0.0, -0.2948713004589081, 0.0, -0.08722473680973053, 0.0, 0.0, -0.16027207672595978, 0.0, 0.0, 0.0, -0.17455941438674927, 0.0, 0.0, 0.0, -0.12178974598646164, 0.0, 0.0, 0.0, 0.0, -0.14908626675605774, 0.0, 0.0, 0.8994880318641663, -0.9702428579330444, -0.23364445567131042, 0.8481955528259277, -2.145176410675049, -0.7650066018104553, -0.04908738657832146, 0.0, -0.289303719997406, 0.0, -0.14044444262981415, 0.0, 0.0, -0.1810791790485382, 0.0, 0.0, 0.0, -0.09415595978498459, 0.0, 0.0, 0.0, -0.07191509008407593, 0.0, 0.0, -9.921767407661264e-09, -0.0015119859017431736, -0.09966502338647842, 0.0, 0.0, 0.5623002648353577, -1.1068999767303467, 0.5442000031471252, -0.0037476930301636457, -1.815536126691094e-18, -0.0048551857471466064, -0.785890519618988], "max": [1.2694649696350098, -0.5118702054023743, 8.787651671949983e-18, 1.5700000524520874, 0.033364083617925644, -0.193760946393013, 0.5199999809265137, 1.4298210144042969, 0.0, 0.3299214839935303, 0.13735352456569672, 0.2718326151371002, 0.6668550372123718, 0.025323988869786263, 0.5311698317527771, 0.5686267614364624, 0.7897061109542847, 0.06008908525109291, 0.37804171442985535, 0.3422940969467163, 0.4365331530570984, 0.08772963285446167, 0.3202090859413147, 0.391036719083786, 0.26180002093315125, 0.05282878130674362, 0.0, 0.7865819334983826, 1.391144871711731, 1.3841301202774048, -0.5599988698959351, -0.002747677266597748, 1.5678277015686035, 0.16766534745693207, -0.10574880242347717, 0.672746479511261, 1.4565634727478027, 0.09251368790864944, 0.5086530447006226, 0.14827986061573029, 0.7406240105628967, 0.7673913836479187, 0.12443073093891144, 0.45642057061195374, 0.5520889759063721, 0.8958061337471008, 0.159572035074234, 0.7549080848693848, 0.40404197573661804, 0.8064603805541992, 0.16695109009742737, 0.3546462655067444, 0.3842284679412842, 0.037852443754673004, 0.13994735479354858, 0.1350984126329422, 0.7475619316101074, 1.3856174945831299, 0.5626999735832214, -1.106863021850586, 0.5570994019508362, 1.516493352201223e-19, 0.010646517388522625, 0.14206640422344208, -0.6000000238418579], "mean": [1.0810061693191528, -0.6936591267585754, -0.22233715653419495, 1.3081539869308472, -0.6083387732505798, -0.3882294297218323, 0.2948315143585205, 1.1747632026672363, -0.16940414905548096, 0.17094939947128296, 0.06696029007434845, 0.19683818519115448, 0.41300076246261597, -0.05729519948363304, 0.328079491853714, 0.4020654857158661, 0.4397064447402954, -0.03485788777470589, 0.23807813227176666, 0.2320317029953003, 0.18402574956417084, 0.004050747957080603, 0.17141380906105042, 0.21819518506526947, 0.13555021584033966, 0.02239220216870308, -0.06832141429185867, 0.31667080521583557, 0.9025405049324036, 1.1500599384307861, -0.7182233333587646, -0.2201547920703888, 1.2878615856170654, -0.7577475309371948, -0.24834145605564117, 0.3698328137397766, 1.2133433818817139, -0.08808485418558121, 0.25112810730934143, -0.03685224428772926, 0.41278186440467834, 0.45257776975631714, 0.004583738744258881, 0.2947893738746643, 0.380559504032135, 0.4642758071422577, 0.05505671352148056, 0.5539471507072449, 0.30832526087760925, 0.3482109308242798, 0.08804097026586533, 0.18418464064598083, 0.20564338564872742, 0.0028753543738275766, 0.0381263829767704, 0.054225947707891464, 0.3276207745075226, 0.8261132836341858, 0.5624077916145325, -1.1068687438964844, 0.5556648969650269, -0.0023144360166043043, 0.006873260717839003, 0.04449034109711647, -0.7478945851325989], "std": [0.07021928578615189, 0.07318998873233795, 0.03780124709010124, 0.14879794418811798, 0.25542405247688293, 0.09567996114492416, 0.12977716326713562, 0.3025936484336853, 0.1053605005145073, 0.11527874320745468, 0.06122349947690964, 0.05030032619833946, 0.2386758178472519, 0.06344960629940033, 0.15871243178844452, 0.18469145894050598, 0.29529449343681335, 0.0776854157447815, 0.11864691227674484, 0.11227430403232574, 0.16703495383262634, 0.0631900429725647, 0.1276225745677948, 0.1580694615840912, 0.07165442407131195, 0.014370179735124111, 0.03959290310740471, 0.22446928918361664, 0.5335751175880432, 0.17814522981643677, 0.08265835046768188, 0.035849764943122864, 0.20496347546577454, 0.709344208240509, 0.12441514432430267, 0.2772528827190399, 0.3158726692199707, 0.14072902500629425, 0.09592682868242264, 0.08914119005203247, 0.25960007309913635, 0.2720608115196228, 0.0941266119480133, 0.12264656275510788, 0.14629550278186798, 0.37566444277763367, 0.08263340592384338, 0.15833832323551178, 0.06908585876226425, 0.3454403877258301, 0.06628493219614029, 0.15233582258224487, 0.16948367655277252, 0.007838835939764977, 0.043725624680519104, 0.05901442840695381, 0.2653030455112457, 0.5559352040290833, 4.947241905028932e-05, 7.36169567971956e-06, 0.0019939749035984278, 0.000613233947660774, 0.0012546780053526163, 0.04681512713432312, 0.03818215802311897], "count": [719]}, "observation.state.tcp_pose": {"min": [0.32713329792022705, 0.1481451392173767, 0.8945963382720947, -1.212552785873413, 1.2175482511520386, -1.3519092798233032, 0.3310120403766632, -0.30677464604377747, 0.8768520355224609, -1.1739082336425781, 1.219713568687439, 0.40136703848838806], "max": [0.4177910387516022, 0.2583944499492645, 1.0540891885757446, -0.18099835515022278, 1.9917142391204834, -0.7905293703079224, 0.4460790157318115, -0.07756030559539795, 1.112696886062622, 1.210532784461975, 1.894276738166809, 1.5742403268814087], "mean": [0.36116793751716614, 0.19642199575901031, 0.9650207161903381, -0.5551456809043884, 1.8078596591949463, -1.1003104448318481, 0.3751925230026245, -0.20595677196979523, 1.0007315874099731, 0.3151896893978119, 1.6197280883789062, 1.059718132019043], "std": [0.0233575701713562, 0.03502373397350311, 0.04145551100373268, 0.23770283162593842, 0.19076205790042877, 0.11313103884458542, 0.02571936883032322, 0.06544555723667145, 0.08238356560468674, 0.760041356086731, 0.17649662494659424, 0.34191426634788513], "count": [719]}, "action.tcp_pose": {"min": [0.3270913362503052, 0.14824391901493073, 0.8944382667541504, -1.208855390548706, 1.2178406715393066, -1.3521357774734497, 0.3310984969139099, -0.30896469950675964, 0.8766264319419861, -1.1741845607757568, 1.2202411890029907, 0.40105530619621277], "max": [0.4180475175380707, 0.2584891617298126, 1.054436445236206, -0.18097032606601715, 1.992069959640503, -0.7889124751091003, 0.44624608755111694, -0.07738575339317322, 1.1129642724990845, 1.2086186408996582, 1.895218849182129, 1.5748566389083862], "mean": [0.36126580834388733, 0.19648651778697968, 0.9650548696517944, -0.5557159185409546, 1.807502269744873, -1.1003726720809937, 0.37544575333595276, -0.20629377663135529, 1.0009058713912964, 0.319389671087265, 1.6196660995483398, 1.0610939264297485], "std": [0.023416543379426003, 0.035006821155548096, 0.041589975357055664, 0.2380654215812683, 0.19121091067790985, 0.11307992041110992, 0.02592490427196026, 0.06546486169099808, 0.08245041221380234, 0.7569624781608582, 0.17675654590129852, 0.3401186466217041], "count": [719]}, "subtask_index": {"min": [0], "max": [4], "mean": [1.8011126564673157], "std": [1.3261880861633233], "count": [719]}, "observation.tactile": {"min": [-1.8234541416168213, -4.53001084679272e-05, -0.00010445034422446042, -0.02847820147871971, -0.008728169836103916, -0.01987091265618801, -0.05486048385500908, -3.766597365029156e-05, -8.357124170288444e-05, -0.005439560394734144, -0.0005012436304241419, -0.0007654273649677634, -0.3451586961746216, -3.697483043652028e-05, -8.163662278093398e-05, -0.014107707887887955, -0.0048106154426932335, -0.005108275916427374, -0.012598121538758278, -3.502848994685337e-05, -7.933146844152361e-05, -0.0011776849860325456, -9.49535533436574e-05, -0.00025711790658533573, -3.8202693462371826, -0.0523894801735878, -0.6750810146331787, -0.017621634528040886, -0.001142134889960289, -0.05278158187866211, -0.00045751110883429646, -4.036080645164475e-05, -9.053173562278971e-05, -0.1284046322107315, -1.6113865513034398e-06, -4.514442480285652e-05, -0.009981525130569935, -3.0517247068928555e-05, -6.76800700603053e-05, -0.0012713843025267124, -5.469413008540869e-05, -0.00021299671789165586, -2.154658317565918, -4.2751507862703875e-05, -9.850654168985784e-05, -0.05485471710562706, -0.0043611787259578705, -0.02079540491104126, -0.029131710529327393, -0.02065611630678177, -0.00010706060857046396, -0.007903655990958214, -0.00012167359818704426, -0.0004259857814759016, -0.7108392119407654, -3.8996243476867676, -1.1355572938919067, -0.09491998702287674, -0.01615075208246708, -0.0125189907848835], "max": [0.007084716111421585, 0.5174192190170288, 2.512523651123047, 1.9302565306134056e-06, 0.00034316620440222323, 6.830500933574513e-05, 0.06215289980173111, 0.14138586819171906, 0.42152729630470276, 1.5282588492482319e-06, 0.0003386180324014276, 0.0009414767264388502, 1.103582739830017, 0.7523967027664185, 1.2745115756988525, 1.5389164218504447e-06, 0.003289350774139166, 0.01308012381196022, 0.00027860316913574934, 0.017196202650666237, 0.05218201130628586, 1.431130158380256e-06, 4.992930917069316e-05, 5.754709945904324e-06, 1.1700389385223389, 5.7282867431640625, 0.9131975769996643, 0.01654587872326374, 0.01064617931842804, 0.020900528877973557, 5.284759521484375, 6.080547332763672, 11.180994033813477, 1.742768063195399e-06, 0.03257225453853607, 0.048588719218969345, 0.021572843194007874, 0.022519603371620178, 0.06450075656175613, 1.2854179658461362e-06, 0.00023345212684944272, 0.00032125465804710984, 0.5347977876663208, 2.3849375247955322, 6.2916364669799805, 1.7970245380638517e-06, 0.001429470139555633, 0.008262107148766518, 1.2286003828048706, 0.0867963433265686, 0.5418004393577576, 1.9628532754722983e-06, 0.0025304241571575403, 0.01793651282787323, 12.458964347839355, 9.732251167297363, 5.4209980964660645, 0.03862932696938515, 0.01851898804306984, 0.261371374130249], "mean": [-0.5205522775650024, 0.16925762593746185, 0.9330150485038757, -0.010637100785970688, -0.002940288046374917, -0.005392956081777811, -0.0005611851811408997, 0.003403991926461458, 0.010197528637945652, -0.00015166965022217482, -1.1461106623755768e-05, -7.306040515686618e-06, 0.01190338097512722, 0.08227439969778061, 0.19407305121421814, -0.0018657547188922763, 0.00019225291907787323, 3.093207851634361e-05, -0.0007744405884295702, 0.001536666415631771, 0.004442866425961256, -9.909262007568032e-05, -2.5310562250524526e-06, -1.702780537016224e-05, 0.03583198040723801, 0.1286521703004837, 0.04853777214884758, -0.0007951754378154874, 0.0005039979587309062, 0.0007457674364559352, 2.094050645828247, 2.2745304107666016, 4.093360424041748, -0.04567984864115715, 0.011092633940279484, 0.01786726713180542, -0.0006172080175019801, 0.0028526480309665203, 0.008454217575490475, -0.00016811190289445221, 1.2799623618775513e-05, -1.6747708286857232e-05, -0.5616879463195801, 0.6857427358627319, 2.058229446411133, -0.01780630834400654, -0.0008702562772668898, -0.004642217420041561, 0.011890414170920849, 0.0020814405288547277, 0.010095990262925625, -0.00016308249905705452, 3.384238516446203e-05, 0.00017389557615388185, 0.661803126335144, 0.37596067786216736, 0.2782078981399536, -0.004585070535540581, 0.0002685777435544878, 0.011666989885270596], "std": [0.6040515899658203, 0.19052636623382568, 1.079797625541687, 0.012394299730658531, 0.003550203051418066, 0.00637376494705677, 0.005236946977674961, 0.014059791341423988, 0.041756872087717056, 0.0005340257775969803, 4.3127867684233934e-05, 8.016874926397577e-05, 0.10176579654216766, 0.16336463391780853, 0.3616354167461395, 0.0034367351327091455, 0.0006440123543143272, 0.0011892467737197876, 0.0016153508331626654, 0.00266724219545722, 0.007762185297906399, 0.0001742814783938229, 1.2653128578676842e-05, 3.420414577703923e-05, 0.5795647501945496, 0.6992056965827942, 0.11287736892700195, 0.0023135680239647627, 0.0012685293331742287, 0.00911743938922882, 2.197726011276245, 2.4846019744873047, 4.3828349113464355, 0.049173980951309204, 0.01215318776667118, 0.019111404195427895, 0.002283892361447215, 0.0038622249849140644, 0.011374184861779213, 0.00023212406085804105, 2.6659079594537616e-05, 4.310005533625372e-05, 0.7232877016067505, 0.7577491998672485, 2.2851598262786865, 0.019890567287802696, 0.0012484191684052348, 0.00651929434388876, 0.10260453820228577, 0.007734376471489668, 0.048050083220005035, 0.000706900842487812, 0.00021801350521855056, 0.0015265621477738023, 2.110948324203491, 1.6737093925476074, 0.9853686094284058, 0.017423002049326897, 0.004032352473586798, 0.042467281222343445], "count": [719]}, "timestamp": {"min": [0.0], "max": [23.933333333333334], "mean": [11.966666666666667], "std": [6.918574034197124], "count": [719]}, "frame_index": {"min": [0], "max": [718], "mean": [359.0], "std": [207.55722102591372], "count": [719]}, "episode_index": {"min": [6], "max": [6], "mean": [6.0], "std": [0.0], "count": [719]}, "index": {"min": [4302], "max": [5020], "mean": [4661.0], "std": [207.55722102591372], "count": [719]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [719]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5363925099372864]], [[0.5359823107719421]], [[0.5376039743423462]]], "std": [[[0.28298822045326233]], [[0.28300732374191284]], [[0.28366532921791077]]], "count": [719]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2228870391845703]], [[0.22260963916778564]], [[0.21859502792358398]]], "std": [[[0.14889170229434967]], [[0.14941628277301788]], [[0.14993540942668915]]], "count": [719]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2982398569583893]], [[0.2995675802230835]], [[0.3002820611000061]]], "std": [[[0.17092683911323547]], [[0.17306816577911377]], [[0.17337414622306824]]], "count": [719]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5351813435554504]], [[0.5350236296653748]], [[0.5364117622375488]]], "std": [[[0.28593260049819946]], [[0.2860364317893982]], [[0.2866308391094208]]], "count": [719]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.48235294222831726]], [[0.48235294222831726]], [[0.48235294222831726]]], "mean": [[[0.002055328106507659]], [[0.002055328106507659]], [[0.002055328106507659]]], "std": [[[0.025362243875861168]], [[0.025362243875861168]], [[0.025362243875861168]]], "count": [719]}, "observation.images.tactile_raw": {"min": [[[0.08627451211214066]], [[0.08627451211214066]], [[0.08627451211214066]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5075358152389526]], [[0.5075358152389526]], [[0.5075358152389526]]], "std": [[[0.23600661754608154]], [[0.23600661754608154]], [[0.23600661754608154]]], "count": [719]}}}
+{"episode_index": 7, "stats": {"observation.state": {"min": [0.9620885848999023, -0.8804673552513123, -0.23107047379016876, 1.0703785419464111, -0.9341201186180115, -0.7700432538986206, 0.10153970122337341, 0.009236570447683334, -0.28714945912361145, -0.006718912627547979, -0.034609951078891754, 0.010112132877111435, -0.0049698203802108765, -0.14191989600658417, 0.011118737049400806, 0.010468770749866962, -0.03536106273531914, -0.1405360996723175, 0.028489835560321808, 0.012836650013923645, -0.010624066926538944, -0.041285883635282516, 0.014237117022275925, 0.0034050443209707737, 0.03233201429247856, -0.003430719021707773, -0.03596772253513336, 0.011483937501907349, 0.0032507332507520914, 0.8977352380752563, -0.9394001364707947, -0.23355673253536224, 0.8852132558822632, -2.1314377784729004, -0.7675896286964417, 0.015962988138198853, 0.012309886515140533, -0.282353937625885, 0.023684950545430183, -0.11211363226175308, 0.014570406638085842, -0.02667178399860859, -0.16779711842536926, 0.008541420102119446, 0.010475422255694866, -0.017922652885317802, -0.11427765339612961, 0.014972834847867489, 0.007716445252299309, -0.019226253032684326, -0.027795324102044106, 0.011290345340967178, 0.009868375957012177, 0.014397257007658482, -0.023326681926846504, -0.05045941099524498, 0.010753537528216839, 0.003077354747802019, 0.5620121955871582, -1.1069588661193848, 0.5442755818367004, -0.0031638352666050196, 0.0001917476038215682, -0.03422694653272629, -0.7875074148178101], "max": [1.2731056213378906, -0.5714983940124512, 1.941444497788325e-05, 1.5700117349624634, 0.0833393782377243, -0.25889676809310913, 0.5200350880622864, 1.4129146337509155, -0.003653650637716055, 0.2559027671813965, 0.15707792341709137, 0.20623894035816193, 0.620309054851532, 0.07903311401605606, 0.4609207212924957, 0.5395654439926147, 0.8108124732971191, 0.061039820313453674, 0.37907806038856506, 0.32862603664398193, 0.7161869406700134, 0.09094850718975067, 0.3232858180999756, 0.4964890778064728, 0.17378391325473785, 0.16909213364124298, 0.07175193727016449, 0.7643003463745117, 1.3047655820846558, 1.3495389223098755, -0.557273805141449, -0.0014618358109146357, 1.5679563283920288, 0.20345810055732727, -0.040202878415584564, 0.6259639263153076, 1.4837843179702759, 0.009371355175971985, 0.2991885542869568, 0.14466173946857452, 0.5445600152015686, 0.655670166015625, 0.0645487830042839, 0.40540188550949097, 0.4610307812690735, 0.7256565093994141, 0.17649105191230774, 0.6294739246368408, 0.38172414898872375, 0.7138287425041199, 0.17109562456607819, 0.34147703647613525, 0.43631747364997864, 0.054954901337623596, 0.08071278035640717, 0.12566906213760376, 0.6052994728088379, 1.2919130325317383, 0.5627791881561279, -1.106767177581787, 0.5566433072090149, 0.0, 0.00920388475060463, 0.11150123178958893, -0.6002658605575562], "mean": [1.0916019678115845, -0.7089564204216003, -0.22021973133087158, 1.354282259941101, -0.6637926697731018, -0.41685810685157776, 0.2764005661010742, 1.1775646209716797, -0.22084832191467285, 0.1394849419593811, 0.06700592488050461, 0.18342278897762299, 0.429407000541687, -0.019404293969273567, 0.33903607726097107, 0.43893685936927795, 0.47882333397865295, -0.018210582435131073, 0.2509484589099884, 0.24293029308319092, 0.3066049814224243, 0.027724314481019974, 0.1908695548772812, 0.29905202984809875, 0.09191661328077316, 0.06305824965238571, 0.00016691187920514494, 0.36702680587768555, 0.7209452986717224, 1.1552757024765015, -0.7600080966949463, -0.22054648399353027, 1.3022197484970093, -0.5868638753890991, -0.28028276562690735, 0.41737428307533264, 1.232682466506958, -0.10595915466547012, 0.13419406116008759, 0.01342334970831871, 0.34050479531288147, 0.4641532301902771, -0.015422915108501911, 0.29218757152557373, 0.35115355253219604, 0.4427524209022522, 0.06767532974481583, 0.47024407982826233, 0.2906842529773712, 0.32975539565086365, 0.0986267477273941, 0.20212122797966003, 0.2540756165981293, 0.03359263017773628, 0.02639654465019703, 0.055864572525024414, 0.31980812549591064, 0.940194308757782, 0.5623074769973755, -1.1068681478500366, 0.5557394623756409, -0.0022338840644806623, 0.00682029128074646, 0.022481953725218773, -0.7298983335494995], "std": [0.0741935670375824, 0.06787529587745667, 0.04267655685544014, 0.14546692371368408, 0.28317371010780334, 0.09456824511289597, 0.13353954255580902, 0.3179383873939514, 0.05748732015490532, 0.059468742460012436, 0.04449533671140671, 0.038104284554719925, 0.1857643723487854, 0.06644730269908905, 0.10206658393144608, 0.11898214370012283, 0.28575438261032104, 0.06423225998878479, 0.09552799165248871, 0.08914917707443237, 0.29441505670547485, 0.053359828889369965, 0.12489128112792969, 0.1975964903831482, 0.05260258540511131, 0.06773292273283005, 0.03667862340807915, 0.2936320900917053, 0.5096226334571838, 0.13474063575267792, 0.08037690073251724, 0.04112963005900383, 0.2067672461271286, 0.6851970553398132, 0.1411004364490509, 0.20800051093101501, 0.32795026898384094, 0.08531838655471802, 0.06839943677186966, 0.07329052686691284, 0.16976933181285858, 0.19220346212387085, 0.06778469681739807, 0.08747480064630508, 0.1045391634106636, 0.23372164368629456, 0.08405489474534988, 0.15030114352703094, 0.06613437831401825, 0.3001022934913635, 0.0596928596496582, 0.13315749168395996, 0.1763775795698166, 0.010669262148439884, 0.028839772567152977, 0.053266119211912155, 0.19558726251125336, 0.4133010804653168, 0.00010388221562607214, 2.971648245875258e-05, 0.0018834949005395174, 0.0005681090406142175, 0.001158907194621861, 0.03805030137300491, 0.04879506304860115], "count": [636]}, "observation.state.joint_torque": {"min": [-31.846500396728516, -29.969999313354492, -16.7450008392334, -19.31999969482422, -0.31360000371932983, -3.808799982070923, 0.9247999787330627, -0.9271280169487, -0.29800543189048767, -0.5554822087287903, -0.6486839652061462, -0.10791664570569992, -0.42983999848365784, -0.6677871346473694, -0.11123716086149216, -0.026399608701467514, -0.3933803141117096, -0.6380437016487122, -0.13780125975608826, -0.025686107575893402, -0.5372999310493469, -0.6140571236610413, -0.0979551151394844, -0.027826614677906036, -0.0914786234498024, -0.4096912145614624, -0.5104349851608276, -0.12783971428871155, -0.08633385598659515, 12.890999794006348, -17.066999435424805, 2.4200000762939453, -9.868000030517578, -1.8007999658584595, -2.792799949645996, -2.9351999759674072, -1.1296188831329346, -0.6736960411071777, -0.38771915435791016, -0.5654237270355225, -0.09629485011100769, -0.4662996530532837, -0.570881187915802, -0.10293588042259216, -0.01855107769370079, -0.3617180287837982, -0.7790849208831787, -0.24239739775657654, -0.06706927716732025, -0.3434882164001465, -0.442313015460968, -0.12617947161197662, -0.03068062849342823, -0.10863086581230164, -0.33197465538978577, -0.5478540658950806, -0.3801986575126648, -0.2104833722114563, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.606000900268555, 16.8435001373291, -9.866999626159668, 8.062000274658203, 2.5880000591278076, 1.9575999975204468, 3.2232000827789307, 0.9920779466629028, 1.654312252998352, 1.1793123483657837, 0.7990493774414062, 0.2042115032672882, 0.9940049648284912, 0.4634212255477905, 0.13116022944450378, 0.032821137458086014, 0.9556264281272888, 0.49316462874412537, 0.14776279032230377, 0.02497260272502899, 0.47493481636047363, 0.29263660311698914, 0.12451920658349991, 0.021405089646577835, 0.05365573614835739, 0.3079880177974701, 0.2868798077106476, 0.13946151733398438, 0.1148739829659462, 38.19300079345703, 22.601999282836914, 17.875999450683594, 9.571000099182129, 0.8551999926567078, 2.8336000442504883, 4.119200229644775, 0.5017698407173157, 2.172637939453125, 0.8338447213172913, 0.9481721520423889, 0.3104678690433502, 0.994005024433136, 0.6476384401321411, 0.12451920658349991, 0.027113113552331924, 1.0304646492004395, 0.4998808801174164, 0.21417304873466492, 0.07491781562566757, 0.8836665749549866, 1.3010333776474, 0.2722820043563843, 0.04709119349718094, -0.006157215218991041, 0.31854212284088135, 0.9316397905349731, 0.13614100217819214, 0.09061487764120102, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-26.382888793945312, 2.0963099002838135, -13.069448471069336, -3.5815656185150146, 0.3598891794681549, 0.8258178234100342, 1.9945549964904785, 0.10615742206573486, 0.584711492061615, 0.4183504581451416, 0.2697279155254364, 0.05036112293601036, 0.3128800690174103, 0.02070845663547516, 0.019304383546113968, -0.0016053798608481884, 0.3417685031890869, 0.06096217408776283, 0.04728592932224274, 0.008195198141038418, 0.10565118491649628, 0.03131384402513504, 0.03458862006664276, 0.002510722493752837, -0.020678957924246788, 0.003895153757184744, -0.0706774964928627, 0.009329790249466896, 0.0017960909754037857, 25.531593322753906, 3.109639883041382, 12.557199478149414, -2.1345765590667725, -0.1991509348154068, 0.5290982723236084, -1.2836898565292358, -0.3120865821838379, 0.651654064655304, 0.3239962160587311, 0.10534524917602539, 0.05974313244223595, 0.4244588613510132, 0.07427247613668442, 0.0463540181517601, -0.003100820817053318, 0.32719698548316956, -0.095229871571064, 0.06525904685258865, 0.011527097783982754, 0.04340217635035515, 0.03107699193060398, 0.009160124696791172, 0.0029426496475934982, -0.04874884709715843, -0.0009262553649023175, 0.07321495562791824, 0.0024172901175916195, 0.0005138111882843077, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.6753225326538086, 2.351559638977051, 1.2331318855285645, 1.521085262298584, 0.27945420145988464, 0.5575422048568726, 0.458370178937912, 0.3905021548271179, 0.7181522250175476, 0.5824516415596008, 0.32019826769828796, 0.09571793675422668, 0.3440319001674652, 0.18962183594703674, 0.045764632523059845, 0.011102570220828056, 0.41091135144233704, 0.19286860525608063, 0.07851739972829819, 0.010870588012039661, 0.19514408707618713, 0.10984642803668976, 0.0662461444735527, 0.009007279761135578, 0.025109155103564262, 0.1823730319738388, 0.10013394802808762, 0.053279999643564224, 0.013121036812663078, 3.2017617225646973, 2.9813785552978516, 2.8274941444396973, 1.5549840927124023, 0.4511324465274811, 1.0748871564865112, 1.2711354494094849, 0.3352185785770416, 0.9045857191085815, 0.34173116087913513, 0.3724405765533447, 0.13891425728797913, 0.43919774889945984, 0.26106128096580505, 0.04396713152527809, 0.01150945108383894, 0.3952046036720276, 0.22769388556480408, 0.07773434370756149, 0.009302401915192604, 0.15758240222930908, 0.24380068480968475, 0.06938771158456802, 0.010976999066770077, 0.025279086083173752, 0.15521538257598877, 0.2779786288738251, 0.07461059093475342, 0.03925413265824318, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [636]}, "observation.state.tcp": {"min": [0.32545772194862366, 0.13004405796527863, 0.9034707546234131, -1.2167532444000244, 1.2176508903503418, -1.4028923511505127, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.34311985969543457, -0.3123886287212372, 0.872231125831604, -1.0916627645492554, 1.219635009765625, 0.516574501991272, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.42635780572891235, 0.2536662817001343, 1.0518194437026978, -0.25800469517707825, 1.9978578090667725, -0.7976519465446472, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4539027810096741, -0.10874217748641968, 1.1055150032043457, 1.2788047790527344, 1.7948379516601562, 1.6200416088104248, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.35647958517074585, 0.19067998230457306, 0.9744939208030701, -0.4904758334159851, 1.792572021484375, -1.0968860387802124, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.37910762429237366, -0.2246614545583725, 1.0068401098251343, 0.5014356970787048, 1.5601004362106323, 1.1615797281265259, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.024670355021953583, 0.038672491908073425, 0.04024802893400192, 0.27241483330726624, 0.1827797144651413, 0.1407172977924347, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.023433830589056015, 0.055907849222421646, 0.06706160306930542, 0.7156738638877869, 0.16377606987953186, 0.2876812815666199, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [636]}, "action": {"min": [0.9620935916900635, -0.8805050253868103, -0.2310558557510376, 1.0703351497650146, -0.9340984225273132, -0.7699999809265137, 0.10143448412418365, 0.0, -0.2919936776161194, 0.0, -0.03917804732918739, 0.0, 0.0, -0.16278989613056183, 0.0, 0.0, 0.0, -0.1475820392370224, 0.0, 0.0, 0.0, -0.0980619490146637, 0.0, 0.0, -9.936966804957592e-09, 0.0, -0.11474237591028214, 0.0, 0.0, 0.8977622985839844, -0.9399467706680298, -0.2335485816001892, 0.8852028250694275, -2.1328086853027344, -0.7653006315231323, 0.01601092517375946, 0.0, -0.2861258089542389, 0.0, -0.12594440579414368, 0.0, 0.0, -0.173685222864151, 0.0, 0.0, 0.0, -0.12560918927192688, 0.0, 0.0, 0.0, -0.08841083943843842, 0.0, 0.0, -9.911505394200049e-09, -0.0027688508853316307, -0.09053537249565125, 0.0, 0.0, 0.5622998476028442, -1.1068999767303467, 0.5442000031471252, -0.003667835844680667, -1.280921645377406e-18, -0.03485456481575966, -0.7879856824874878], "max": [1.2731082439422607, -0.571503758430481, -4.612582434361072e-18, 1.5700000524520874, 0.08331433683633804, -0.2587634027004242, 0.5199999809265137, 1.453945279121399, 0.0, 0.3361193537712097, 0.15180625021457672, 0.2573324143886566, 0.728030800819397, 0.08544491231441498, 0.490556538105011, 0.5559288263320923, 0.9083418846130371, 0.06975171715021133, 0.395362913608551, 0.3409024775028229, 0.759973406791687, 0.09701798856258392, 0.3510485887527466, 0.5151106715202332, 0.17813295125961304, 0.1867145299911499, 0.07297388464212418, 0.7815274596214294, 1.3906121253967285, 1.3495196104049683, -0.5572185516357422, -0.0021734791807830334, 1.5684187412261963, 0.20363596081733704, -0.03997937589883804, 0.6261518001556396, 1.4861712455749512, 0.07966568320989609, 0.3171333968639374, 0.14662005007266998, 0.6177876591682434, 0.7705495953559875, 0.08190228044986725, 0.4372037351131439, 0.476774126291275, 0.8046050071716309, 0.16387300193309784, 0.6825577616691589, 0.3995574116706848, 0.7244817018508911, 0.17183081805706024, 0.3667231798171997, 0.4507046639919281, 0.008919055573642254, 0.0887567326426506, 0.13727006316184998, 0.620476245880127, 1.3992319107055664, 0.5626999735832214, -1.106863021850586, 0.5572896599769592, 2.9818925334468697e-19, 0.011188370175659657, 0.11172661185264587, -0.6000000238418579], "mean": [1.0917837619781494, -0.7090811729431152, -0.22024497389793396, 1.3542355298995972, -0.6640756130218506, -0.4165751039981842, 0.2766391932964325, 1.183664083480835, -0.19065269827842712, 0.19184236228466034, 0.07742307335138321, 0.1958427131175995, 0.4717407822608948, -0.01732674427330494, 0.344605416059494, 0.43776601552963257, 0.5298696756362915, -0.014409920200705528, 0.2645036578178406, 0.2532174587249756, 0.3158050775527954, 0.01832609996199608, 0.20084600150585175, 0.30405527353286743, 0.0797584131360054, 0.06355062872171402, -0.026174476370215416, 0.37164828181266785, 0.7377786636352539, 1.1557424068450928, -0.7605631351470947, -0.22059540450572968, 1.3023759126663208, -0.5811406970024109, -0.280232697725296, 0.41768959164619446, 1.2169969081878662, -0.07195857167243958, 0.17361001670360565, 0.01728120446205139, 0.3553312122821808, 0.5298689603805542, -0.010600593872368336, 0.30517855286598206, 0.34887194633483887, 0.4910271167755127, 0.06414350867271423, 0.48807665705680847, 0.3036118149757385, 0.3345903158187866, 0.0991404727101326, 0.2051934003829956, 0.2578749358654022, 5.911767948418856e-05, 0.025631800293922424, 0.059296511113643646, 0.32075825333595276, 0.9619766473770142, 0.5623120069503784, -1.1068682670593262, 0.5557776093482971, -0.0022822844330221415, 0.006863180082291365, 0.02250225469470024, -0.7299337387084961], "std": [0.07457294315099716, 0.0679636299610138, 0.04279983788728714, 0.14552973210811615, 0.2823925018310547, 0.09546568989753723, 0.13363121449947357, 0.3339986503124237, 0.08220017701387405, 0.12555404007434845, 0.045807600021362305, 0.05456581711769104, 0.22076518833637238, 0.07028430700302124, 0.11310706287622452, 0.12599988281726837, 0.3329550325870514, 0.06897497922182083, 0.1087576374411583, 0.09737540781497955, 0.30682238936424255, 0.0718843936920166, 0.13547252118587494, 0.2003149390220642, 0.06552629917860031, 0.07680945098400116, 0.06266661733388901, 0.3059180676937103, 0.5363415479660034, 0.134555846452713, 0.08064256608486176, 0.041073355823755264, 0.20657239854335785, 0.6812353134155273, 0.14159268140792847, 0.20778605341911316, 0.33557915687561035, 0.12020125240087509, 0.05589985474944115, 0.07376343756914139, 0.199276864528656, 0.23908407986164093, 0.07258476316928864, 0.09872607886791229, 0.10694538801908493, 0.27629223465919495, 0.07980993390083313, 0.1654711216688156, 0.07451801747083664, 0.29887330532073975, 0.06269602477550507, 0.1389554888010025, 0.180799201130867, 0.0006263602408580482, 0.025456441566348076, 0.05346110835671425, 0.2016005963087082, 0.4589599072933197, 6.78586948197335e-05, 7.369512331933947e-06, 0.002052606549113989, 0.0005951907951384783, 0.0013260541018098593, 0.03813771530985832, 0.048995502293109894], "count": [636]}, "observation.state.tcp_pose": {"min": [0.32545772194862366, 0.13004405796527863, 0.9034707546234131, -1.2167532444000244, 1.2176508903503418, -1.4028923511505127, 0.34311985969543457, -0.3123886287212372, 0.872231125831604, -1.0916627645492554, 1.219635009765625, 0.516574501991272], "max": [0.42635780572891235, 0.2536662817001343, 1.0518194437026978, -0.25800469517707825, 1.9978578090667725, -0.7976519465446472, 0.4539027810096741, -0.10874217748641968, 1.1055150032043457, 1.2788047790527344, 1.7948379516601562, 1.6200416088104248], "mean": [0.35647958517074585, 0.19067998230457306, 0.9744939208030701, -0.4904758334159851, 1.792572021484375, -1.0968860387802124, 0.37910762429237366, -0.2246614545583725, 1.0068401098251343, 0.5014356970787048, 1.5601004362106323, 1.1615797281265259], "std": [0.024670355021953583, 0.038672491908073425, 0.04024802893400192, 0.27241483330726624, 0.1827797144651413, 0.1407172977924347, 0.023433830589056015, 0.055907849222421646, 0.06706160306930542, 0.7156738638877869, 0.16377606987953186, 0.2876812815666199], "count": [636]}, "action.tcp_pose": {"min": [0.325519859790802, 0.13005656003952026, 0.9033424854278564, -1.2196937799453735, 1.2178406715393066, -1.4043424129486084, 0.341266930103302, -0.3118785321712494, 0.872011125087738, -1.091663122177124, 1.2204192876815796, 0.5160009264945984], "max": [0.4254351854324341, 0.25369858741760254, 1.0518072843551636, -0.2579692006111145, 1.9979549646377563, -0.7976586818695068, 0.4532213509082794, -0.10870902985334396, 1.105902075767517, 1.2790100574493408, 1.7958984375, 1.619888424873352], "mean": [0.35651570558547974, 0.1907435804605484, 0.9745717644691467, -0.4900020360946655, 1.79252290725708, -1.0972926616668701, 0.3793344497680664, -0.22502601146697998, 1.007062315940857, 0.5070773363113403, 1.5602269172668457, 1.1634479761123657], "std": [0.024735210463404655, 0.03864685818552971, 0.040380146354436874, 0.2714824080467224, 0.18250595033168793, 0.14103899896144867, 0.023646671324968338, 0.05583987385034561, 0.06699420511722565, 0.7109097242355347, 0.1634790003299713, 0.28612470626831055], "count": [636]}, "subtask_index": {"min": [0], "max": [4], "mean": [1.9418238993710693], "std": [1.3416686106533415], "count": [636]}, "observation.tactile": {"min": [-1.6536864042282104, -4.9644382670521736e-05, -0.00011530534538906068, -0.03327934816479683, -0.009219611063599586, -0.017056269571185112, -0.0044807689264416695, -4.3889100197702646e-05, -9.901695011649281e-05, -0.0009566896478645504, -2.0076891814824194e-05, -0.00011735092266462743, -0.373750776052475, -3.688412834890187e-05, -7.89077821536921e-05, -0.03328470140695572, -0.000848493305966258, -0.005592829547822475, -0.006406134460121393, -4.155068745603785e-05, -9.460993896936998e-05, -0.018052533268928528, -0.002014551544561982, -0.00014940030814614147, -0.0031108888797461987, -3.9632799598621204e-05, -8.918930689105764e-05, -0.005385398864746094, -5.138690903550014e-05, -7.989306322997436e-05, -0.07150783389806747, -3.859323987853713e-05, -8.471794717479497e-05, -0.08882677555084229, -0.00024842863786034286, -0.0016563509125262499, -0.008499110117554665, -3.3237331081181765e-05, -7.13951449142769e-05, -0.001107506570406258, -6.519894668599591e-06, -0.00018825550796464086, -1.4434466361999512, -4.196929876343347e-05, -9.585527004674077e-05, -0.03229246288537979, -0.0033849216997623444, -0.013426451943814754, -0.0055415271781384945, -4.703176819020882e-05, -0.00010764613398350775, -0.0011647021165117621, -9.000970749184489e-05, -0.0001390155521221459, -2.258577823638916, -5.733506986871362e-05, -1.4274253845214844, -0.025167042389512062, -0.008731857873499393, -0.03513939678668976], "max": [0.0012349324533715844, 0.81796795129776, 2.992161989212036, 2.153001105398289e-06, 0.0006968959351070225, 8.113619514915626e-06, 0.015310976654291153, 0.015015138313174248, 0.047555938363075256, 1.8266472352479468e-06, 0.00026106819859705865, 0.00022625589917879552, 0.5574849843978882, 1.9978113174438477, 3.1974055767059326, 1.431384589523077e-06, 0.004573626443743706, 0.006794648244976997, 0.6031818985939026, 0.4916500449180603, 0.9633027911186218, 1.748937506818038e-06, 0.0005297958268783987, 0.012331281788647175, 0.30378177762031555, 0.08334232866764069, 0.2616329491138458, 1.665662807681656e-06, 0.0018030036007985473, 0.005377833265811205, 4.670834541320801, 3.398745536804199, 8.051651954650879, 1.623733851374709e-06, 0.02834070473909378, 0.045097656548023224, 0.031120315194129944, 0.019743435084819794, 0.06510774791240692, 1.3110949339534272e-06, 0.0002454239293001592, 0.0004766680649481714, 0.3227522373199463, 1.6807758808135986, 3.9210917949676514, 1.7697699377094978e-06, 0.002677131909877062, 0.0041294642724096775, 0.00791278574615717, 0.017515763640403748, 0.05244182050228119, 1.9802919268840924e-06, 0.0002500687260180712, 0.00010781973105622455, 4.983843803405762, 6.447445869445801, 1.339310646057129, 0.03648783266544342, 0.006271280813962221, 0.0963071808218956], "mean": [-0.4673463702201843, 0.24616308510303497, 0.9753027558326721, -0.010772298090159893, -0.0027207396924495697, -0.004443375859409571, 0.00025349020143039525, 0.00046165246749296784, 0.0013658732641488314, -2.635860801092349e-05, 3.779908411161159e-06, 3.2644052225805353e-06, 0.0902392640709877, 0.5028725266456604, 1.1054081916809082, -0.011403096839785576, 0.001348217367194593, 0.0003826750617008656, 0.10697128623723984, 0.07478076219558716, 0.17567557096481323, -0.003355691907927394, -0.0002982898731715977, 0.0021717899944633245, 0.03901619836688042, 0.007866522297263145, 0.021751461550593376, -0.0003864145546685904, 0.00010825359640875831, 0.0006603663205169141, 1.3684666156768799, 0.9600053429603577, 2.275043249130249, -0.024483101442456245, 0.006283501163125038, 0.012088273651897907, -0.0003798589750658721, 0.0029772710986435413, 0.008814026601612568, -0.00015774978965055197, 2.3989156034076586e-05, -1.54201752593508e-05, -0.29743221402168274, 0.3890247046947479, 1.0669775009155273, -0.008868061006069183, -0.00040299614192917943, -0.0023241043090820312, 0.00016515217430423945, 0.0015746373683214188, 0.004721119534224272, -0.00010249416664009914, 1.4826870938122738e-05, -1.857185111475701e-06, 0.25889456272125244, 0.31347256898880005, 0.01922357827425003, 5.344273631635588e-06, -0.00011183175956830382, 0.004236517008394003], "std": [0.5870732069015503, 0.32285815477371216, 1.2568503618240356, 0.013910137116909027, 0.003655756823718548, 0.005625754129141569, 0.0007880348130129278, 0.0016788812354207039, 0.004899389576166868, 9.65555664151907e-05, 2.200315793743357e-05, 1.5536903447355144e-05, 0.15464647114276886, 0.582953929901123, 1.26020085811615, 0.012772823683917522, 0.0016597281210124493, 0.0014395881444215775, 0.18418239057064056, 0.11406835168600082, 0.2588895261287689, 0.004920554347336292, 0.0006023264722898602, 0.0037681444082409143, 0.07325738668441772, 0.012045016512274742, 0.03289894759654999, 0.0005875702481716871, 0.00019028621318284422, 0.0012508319923654199, 1.6128275394439697, 1.2218739986419678, 2.7656052112579346, 0.030086083337664604, 0.009004922583699226, 0.014959788881242275, 0.002911034505814314, 0.00348937907256186, 0.01043237280100584, 0.00019687636813614517, 3.5490978916641325e-05, 5.0083650421584025e-05, 0.4430737793445587, 0.44665372371673584, 1.218384861946106, 0.010206189006567001, 0.0012720267986878753, 0.004004986025393009, 0.0012968331575393677, 0.0032497060019522905, 0.009743865579366684, 0.00021364250278566033, 4.128077125642449e-05, 2.433567169646267e-05, 0.9732366800308228, 1.1692570447921753, 0.23840586841106415, 0.004438694100826979, 0.0011369785061106086, 0.016067583113908768], "count": [636]}, "timestamp": {"min": [0.0], "max": [21.166666666666668], "mean": [10.583333333333334], "std": [6.11990528854334], "count": [636]}, "frame_index": {"min": [0], "max": [635], "mean": [317.5], "std": [183.5971586563002], "count": [636]}, "episode_index": {"min": [7], "max": [7], "mean": [7.0], "std": [0.0], "count": [636]}, "index": {"min": [5021], "max": [5656], "mean": [5338.5], "std": [183.5971586563002], "count": [636]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [636]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5349856019020081]], [[0.5346395969390869]], [[0.5359992384910583]]], "std": [[[0.28078678250312805]], [[0.2807804048061371]], [[0.2812959849834442]]], "count": [636]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2219773381948471]], [[0.22123873233795166]], [[0.21676842868328094]]], "std": [[[0.14840471744537354]], [[0.1485644429922104]], [[0.14943556487560272]]], "count": [636]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3000055253505707]], [[0.30133238434791565]], [[0.30104488134384155]]], "std": [[[0.17078740894794464]], [[0.17275728285312653]], [[0.1724041849374771]]], "count": [636]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5341464877128601]], [[0.5340087413787842]], [[0.5352192521095276]]], "std": [[[0.2834160029888153]], [[0.28350603580474854]], [[0.2839584946632385]]], "count": [636]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.47843137383461]], [[0.47843137383461]], [[0.47843137383461]]], "mean": [[[0.0012596298474818468]], [[0.0012596298474818468]], [[0.0012596298474818468]]], "std": [[[0.01824093423783779]], [[0.01824093423783779]], [[0.01824093423783779]]], "count": [636]}, "observation.images.tactile_raw": {"min": [[[0.07450980693101883]], [[0.07450980693101883]], [[0.07450980693101883]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5076877474784851]], [[0.5076877474784851]], [[0.5076877474784851]]], "std": [[[0.23608866333961487]], [[0.23608866333961487]], [[0.23608866333961487]]], "count": [636]}}}
+{"episode_index": 8, "stats": {"observation.state": {"min": [0.9738755226135254, -0.8479177355766296, -0.2311915159225464, 0.9842686057090759, -0.8433446288108826, -0.7700604796409607, 0.07083047926425934, 0.009358888491988182, -0.2918381989002228, -0.021473092958331108, -0.06207294762134552, 0.022165141999721527, 0.026360725983977318, -0.1363191306591034, 0.011524002999067307, 0.012605182826519012, 0.007530164904892445, -0.14068497717380524, 0.017420737072825432, 0.008970445021986961, -0.00911513902246952, -0.0417475625872612, 0.014238535426557064, 0.010894900187849998, 0.03323967009782791, 0.0019338116981089115, -0.03594294562935829, 0.011127246543765068, -0.008017086423933506, 0.8873864412307739, -0.8768171668052673, -0.2334780991077423, 0.8837292194366455, -2.0336389541625977, -0.7669504880905151, 0.06732090562582016, 0.012345299124717712, -0.2890261113643646, 0.01964932307600975, -0.11356200277805328, 0.01492780540138483, 0.003066427307203412, -0.1705598384141922, 0.008571202866733074, 0.009197920560836792, 0.005386854521930218, -0.08345760405063629, 0.0180561151355505, 0.007243312429636717, -0.004994842689484358, -0.026822898536920547, 0.01025502197444439, 0.005991973448544741, 0.029362868517637253, -0.02144634909927845, -0.04246854782104492, 0.010597174987196922, 0.002104485174641013, 0.5621080994606018, -1.1069588661193848, 0.5442755818367004, -0.0032597091048955917, 9.58738019107841e-05, -0.033843450248241425, -0.7990122437477112], "max": [1.2623767852783203, -0.5200343728065491, 1.737712591420859e-05, 1.5700185298919678, 0.1657879650592804, -0.29580914974212646, 0.52003014087677, 1.3742916584014893, -0.003624742152169347, 0.3001745939254761, 0.13123148679733276, 0.218078151345253, 0.6241111755371094, 0.05792013928294182, 0.5072823166847229, 0.5263079404830933, 0.8253735899925232, 0.061602070927619934, 0.39186322689056396, 0.33341366052627563, 0.7100812792778015, 0.10318770259618759, 0.34661924839019775, 0.4065553843975067, 0.1621556431055069, 0.13804982602596283, 0.07179904729127884, 0.6952442526817322, 1.2959831953048706, 1.3657326698303223, -0.5356860756874084, -0.002194071887061, 1.5675023794174194, 0.2226114124059677, -0.13282176852226257, 0.6690514087677002, 1.4180262088775635, 0.008902317844331264, 0.5045881271362305, 0.15560832619667053, 0.6840240955352783, 0.6634718775749207, 0.09021896123886108, 0.4018980860710144, 0.5170341730117798, 0.745213508605957, 0.173177108168602, 0.6873924136161804, 0.4000592529773712, 0.8431142568588257, 0.161924809217453, 0.37264877557754517, 0.5968685150146484, 0.08642420917749405, 0.17506185173988342, 0.13590259850025177, 0.7914020419120789, 1.2919684648513794, 0.5626833438873291, -1.106767177581787, 0.5569308996200562, 0.0, 0.009299758821725845, 0.16279371082782745, -0.6000741124153137], "mean": [1.101305603981018, -0.7134702205657959, -0.22217823565006256, 1.3537466526031494, -0.6089770793914795, -0.3909734785556793, 0.27473607659339905, 1.175944209098816, -0.22619828581809998, 0.1782274842262268, 0.03569716215133667, 0.1898106336593628, 0.4308222234249115, -0.03574218600988388, 0.3536943197250366, 0.4170039892196655, 0.46637916564941406, -0.031498491764068604, 0.23890772461891174, 0.22802279889583588, 0.32549795508384705, 0.02906440757215023, 0.2060331553220749, 0.2408764809370041, 0.08948535472154617, 0.057648155838251114, 0.0037814995739609003, 0.32305845618247986, 0.7972666621208191, 1.1552720069885254, -0.7251081466674805, -0.21967817842960358, 1.2967414855957031, -0.6478838324546814, -0.26421695947647095, 0.4300053119659424, 1.1644998788833618, -0.12599463760852814, 0.22899815440177917, -0.02060987427830696, 0.3949612081050873, 0.4641384482383728, 0.004871176090091467, 0.3102402091026306, 0.3955022394657135, 0.4527076780796051, 0.0702911913394928, 0.5351381897926331, 0.30389484763145447, 0.41114556789398193, 0.09862064570188522, 0.22388777136802673, 0.33945372700691223, 0.03140959516167641, 0.0664772242307663, 0.06842631846666336, 0.41405996680259705, 0.8833884000778198, 0.5623066425323486, -1.106866717338562, 0.5557290315628052, -0.002297957893460989, 0.006835200823843479, 0.029380450025200844, -0.7529014945030212], "std": [0.06800707429647446, 0.08274424821138382, 0.03865571692585945, 0.1543993353843689, 0.26915785670280457, 0.09554760158061981, 0.13765333592891693, 0.2879540026187897, 0.053967542946338654, 0.09761568903923035, 0.06599961966276169, 0.03615536168217659, 0.19346806406974792, 0.0691048875451088, 0.12127979099750519, 0.12117423862218857, 0.3140329122543335, 0.06898807734251022, 0.12183961272239685, 0.11365398019552231, 0.29395732283592224, 0.05324001982808113, 0.14144738018512726, 0.16795633733272552, 0.05040939524769783, 0.05317480489611626, 0.04421234875917435, 0.25308486819267273, 0.5417621731758118, 0.14570671319961548, 0.07889408618211746, 0.039331015199422836, 0.1805012971162796, 0.7331503629684448, 0.10795623809099197, 0.22451519966125488, 0.3260178864002228, 0.08670413494110107, 0.14168709516525269, 0.09465991705656052, 0.2364935576915741, 0.19231761991977692, 0.07420050352811813, 0.09143265336751938, 0.1129206046462059, 0.2591358423233032, 0.08531154692173004, 0.1580883115530014, 0.061896227300167084, 0.37072083353996277, 0.05235518142580986, 0.1482330858707428, 0.2527425289154053, 0.007909155450761318, 0.0709347054362297, 0.04993538185954094, 0.3096669316291809, 0.498239666223526, 8.892262121662498e-05, 2.1145426217117347e-05, 0.0019213220803067088, 0.0006316040526144207, 0.0011676986468955874, 0.061175089329481125, 0.04423055425286293], "count": [701]}, "observation.state.joint_torque": {"min": [-34.537498474121094, -25.677000045776367, -18.364999771118164, -16.437000274658203, -0.3792000114917755, -3.1744000911712646, 1.1663999557495117, -0.9780691266059875, -0.5030433535575867, -0.5318711400032043, -0.7381575703620911, -0.0879935771226883, -0.40873175859451294, -0.7982742190361023, -0.11123716086149216, -0.02425910159945488, -0.3981776237487793, -0.722476601600647, -0.12949997186660767, -0.020691584795713425, -0.3051096200942993, -0.31566375494003296, -0.11621791869401932, -0.01855107769370079, -0.086201012134552, -0.3597990870475769, -0.3521233797073364, -0.22745507955551147, -0.1790892481803894, 17.003999710083008, -9.697500228881836, 4.913000106811523, -7.474999904632568, -1.9592000246047974, -1.8240000009536743, -2.9791998863220215, -1.1716454029083252, -0.666054904460907, -0.2671782672405243, -0.6437131762504578, -0.09297433495521545, -0.3530828654766083, -0.5142728686332703, -0.07803203910589218, -0.027113113552331924, -0.44902926683425903, -0.9738562107086182, -0.1062563955783844, -0.01212955079972744, -0.3530828356742859, -0.8001931309700012, -0.1759871542453766, -0.02425910159945488, -0.172402024269104, -0.3175826668739319, -0.5142728686332703, -0.3801986575126648, -0.21333740651607513, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-19.886999130249023, 18.395999908447266, -9.524999618530273, 6.506999969482422, 2.7751998901367188, 2.2351999282836914, 3.700000047683716, 1.370315670967102, 2.0019853115081787, 0.991666316986084, 1.1793124675750732, 0.13116022944450378, 0.7790849804878235, 0.4586239755153656, 0.151083305478096, 0.027826614677906036, 0.8500852584838867, 0.46917805075645447, 0.12285894900560379, 0.022832093760371208, 0.3147042691707611, 0.3482854962348938, 0.13614100217819214, 0.0321076326072216, 0.05629453808069229, 0.3770694434642792, 0.27632570266723633, 0.12783971428871155, 0.18265675008296967, 40.057498931884766, 17.002500534057617, 17.60300064086914, 6.247000217437744, 0.8551999926567078, 2.845599889755249, 1.9664000272750854, 0.6787901520729065, 2.4426257610321045, 1.2675433158874512, 0.7431283593177795, 0.41174352169036865, 1.2281142473220825, 0.700408935546875, 0.13448072969913483, 0.03139413148164749, 1.0563701391220093, 0.4231237471103668, 0.18760894238948822, 0.02996712550520897, 0.9892076253890991, 0.400096595287323, 0.20089100301265717, 0.05351272225379944, 0.014953237026929855, 0.2887987494468689, 0.6226922869682312, 0.167685866355896, 0.20905636250972748, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-26.464136123657227, 2.06430721282959, -13.169325828552246, -3.4673826694488525, 0.37034526467323303, 0.6821966171264648, 2.070554494857788, 0.34398311376571655, 0.7943181395530701, 0.325655996799469, 0.29081085324287415, 0.032684069126844406, 0.3295343220233917, 0.06839567422866821, 0.042515337467193604, -0.0010585504351183772, 0.3247562348842621, 0.020182959735393524, 0.02200496569275856, 0.0030392638873308897, 0.06428550183773041, 0.057198360562324524, 0.010565448552370071, 0.004537499975413084, -0.0373159684240818, 0.01281652133911848, -0.024428607895970345, 0.009904647246003151, 0.007008861284703016, 26.057600021362305, 3.0407912731170654, 12.714580535888672, -2.205500841140747, -0.21270529925823212, 0.5442975759506226, -1.3638685941696167, -0.07465305924415588, 0.8425621390342712, 0.4976091682910919, -0.03649543598294258, 0.08859056234359741, 0.5441806316375732, 0.013171038590371609, 0.05964365229010582, -0.00018931497470475733, 0.3598608076572418, -0.18199151754379272, 0.06279371678829193, 0.011913781054317951, 0.29205620288848877, -0.12933607399463654, 0.026706265285611153, 0.006205740850418806, -0.03381950780749321, 0.009014285169541836, 0.03512924909591675, 0.025379924103617668, -0.0005160755827091634, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.7386064529418945, 2.284827947616577, 1.3121310472488403, 1.4460796117782593, 0.3062393069267273, 0.5202062726020813, 0.4693993031978607, 0.6364840865135193, 0.9259186387062073, 0.49116116762161255, 0.40097272396087646, 0.07097739726305008, 0.3265365958213806, 0.23994174599647522, 0.055773526430130005, 0.012296823784708977, 0.40676507353782654, 0.18787437677383423, 0.055543139576911926, 0.008659658953547478, 0.15165852010250092, 0.11190725862979889, 0.057887133210897446, 0.012335936538875103, 0.027170786634087563, 0.1812211126089096, 0.11401182413101196, 0.05393746495246887, 0.014992213808000088, 2.746067762374878, 2.483459234237671, 2.386350631713867, 1.3721387386322021, 0.5106865167617798, 0.9761555790901184, 1.0179765224456787, 0.45861947536468506, 0.9862469434738159, 0.5543264746665955, 0.35169392824172974, 0.15161257982254028, 0.5710501074790955, 0.25019749999046326, 0.0515541210770607, 0.009421641007065773, 0.46970823407173157, 0.25827261805534363, 0.08262033760547638, 0.011023133061826229, 0.3904784619808197, 0.2436024695634842, 0.1063760295510292, 0.011163750663399696, 0.02322898991405964, 0.12767645716667175, 0.2505115568637848, 0.06655735522508621, 0.038753196597099304, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [701]}, "observation.state.tcp": {"min": [0.329509973526001, 0.13472501933574677, 0.9065698385238647, -1.2418558597564697, 1.2176263332366943, -1.457944631576538, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.33256515860557556, -0.27573102712631226, 0.8725751042366028, -1.1264300346374512, 1.190514326095581, 0.5397114753723145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.41699594259262085, 0.2551761567592621, 1.0522534847259521, -0.3088533282279968, 2.045456647872925, -0.8448981046676636, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4464086592197418, -0.09759767353534698, 1.1022801399230957, 1.291032314300537, 1.8187808990478516, 1.610926866531372, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.35877570509910583, 0.19368183612823486, 0.975909948348999, -0.5462660193443298, 1.8139288425445557, -1.10574471950531, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.37933775782585144, -0.20707127451896667, 1.0043864250183105, 0.4059138596057892, 1.5696041584014893, 1.1405218839645386, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.02367304638028145, 0.03905515372753143, 0.03971380740404129, 0.2510671615600586, 0.2148890197277069, 0.11697801202535629, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.022730164229869843, 0.05460692197084427, 0.06684982776641846, 0.7965331673622131, 0.18090583384037018, 0.30681461095809937, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [701]}, "action": {"min": [0.9738860726356506, -0.8482913970947266, -0.2311517298221588, 0.9841445684432983, -0.8433059453964233, -0.7699999809265137, 0.07075486332178116, 0.0, -0.2931244373321533, 0.0, -0.06287673115730286, 0.0, 0.0, -0.14580217003822327, 0.0, 0.0, 0.0, -0.14676111936569214, 0.0, 0.0, 0.0, -0.11653172224760056, 0.0, 0.0, -9.962644043071123e-09, 0.0, -0.12772376835346222, 0.0, 0.0, 0.8874078989028931, -0.8768618106842041, -0.233452707529068, 0.883668839931488, -2.033675193786621, -0.767781674861908, 0.06730341166257858, 0.0, -0.28581610321998596, 0.0, -0.13405407965183258, 0.0, 0.0, -0.17665818333625793, 0.0, 0.0, 0.0, -0.08739010989665985, 0.0, 0.0, 0.0, -0.05931428447365761, 0.0, 0.0, -9.939499889810577e-09, -0.0012230516877025366, -0.056809064000844955, 0.0, 0.0, 0.5622998476028442, -1.1068999767303467, 0.5442000031471252, -0.003540952689945698, -9.306362492847804e-22, -0.034208279103040695, -0.7992907762527466], "max": [1.2623703479766846, -0.5199236273765564, 9.772437488154577e-18, 1.5700000524520874, 0.16576580703258514, -0.29577067494392395, 0.5199999809265137, 1.433250904083252, 0.0, 0.37815505266189575, 0.1454567015171051, 0.2511150538921356, 0.6961568593978882, 0.07675980776548386, 0.5416355729103088, 0.5648853778839111, 0.8969919085502625, 0.05868075042963028, 0.43016156554222107, 0.3636137545108795, 0.7192481756210327, 0.10855377465486526, 0.3829159736633301, 0.4235742688179016, 0.16658902168273926, 0.14604243636131287, 0.07762221992015839, 0.7087019681930542, 1.3915221691131592, 1.3657222986221313, -0.535646915435791, -0.0008577363914810121, 1.5694491863250732, 0.22298571467399597, -0.1318264752626419, 0.6694867610931396, 1.4363548755645752, 0.08641501516103745, 0.508017897605896, 0.15380313992500305, 0.7778775095939636, 0.8227972388267517, 0.09842215478420258, 0.4282701909542084, 0.5288524627685547, 0.8566251397132874, 0.15722103416919708, 0.7335694432258606, 0.41477346420288086, 0.9609998464584351, 0.1588481217622757, 0.42321017384529114, 0.6153180599212646, 0.038461729884147644, 0.16520074009895325, 0.138715460896492, 0.8075649738311768, 1.3576399087905884, 0.5626999735832214, -1.106863021850586, 0.557900071144104, 2.7881776907324904e-19, 0.01122180838137865, 0.1629994958639145, -0.6000000238418579], "mean": [1.1014463901519775, -0.7137184143066406, -0.2222217321395874, 1.3538278341293335, -0.6093549132347107, -0.39113813638687134, 0.2748717963695526, 1.1873283386230469, -0.18494021892547607, 0.22006578743457794, 0.04670959711074829, 0.1975405216217041, 0.4726230800151825, -0.031932950019836426, 0.3637601137161255, 0.41442009806632996, 0.5132413506507874, -0.030997367575764656, 0.24435466527938843, 0.23134596645832062, 0.328431099653244, 0.02011099085211754, 0.20881903171539307, 0.2459728717803955, 0.06951119005680084, 0.05613415688276291, -0.01857629604637623, 0.326159805059433, 0.836016058921814, 1.1556588411331177, -0.7254549264907837, -0.21965985000133514, 1.296748399734497, -0.644058108329773, -0.2646057605743408, 0.43004047870635986, 1.1577457189559937, -0.08298088610172272, 0.291340172290802, -0.02249935083091259, 0.41652363538742065, 0.5505568981170654, 0.006239687092602253, 0.32438918948173523, 0.3938813805580139, 0.507623016834259, 0.06130251660943031, 0.5490239262580872, 0.3149215281009674, 0.4509035646915436, 0.09145265072584152, 0.23046070337295532, 0.34571388363838196, 0.004385293927043676, 0.06695828586816788, 0.06994287669658661, 0.4193648397922516, 0.8884735107421875, 0.5623108148574829, -1.1068686246871948, 0.5557703971862793, -0.002347826026380062, 0.006882957182824612, 0.029395045712590218, -0.7529199123382568], "std": [0.06818711757659912, 0.08284319937229156, 0.03864331170916557, 0.15429101884365082, 0.2683199942111969, 0.09579233825206757, 0.13764670491218567, 0.32311153411865234, 0.08672741055488586, 0.15159904956817627, 0.05886738374829292, 0.0516841821372509, 0.2293882966041565, 0.07708118110895157, 0.13512539863586426, 0.12890197336673737, 0.36151090264320374, 0.07183216512203217, 0.13038650155067444, 0.11666901409626007, 0.3010851740837097, 0.07253045588731766, 0.15284202992916107, 0.1796339750289917, 0.06008298322558403, 0.06038396432995796, 0.06933547556400299, 0.26539328694343567, 0.585216224193573, 0.14552085101604462, 0.07918529957532883, 0.039417341351509094, 0.18048930168151855, 0.7303614616394043, 0.1087758019566536, 0.22445613145828247, 0.3385085165500641, 0.1300167292356491, 0.12006715685129166, 0.09720877557992935, 0.2655056416988373, 0.27307581901550293, 0.07751666754484177, 0.10469377040863037, 0.12044492363929749, 0.31941914558410645, 0.08017809689044952, 0.17821691930294037, 0.07299888879060745, 0.4164608120918274, 0.0526815727353096, 0.16410227119922638, 0.26196369528770447, 0.008370975963771343, 0.06786224246025085, 0.052108168601989746, 0.32129421830177307, 0.5200179815292358, 6.74144976073876e-05, 7.445459232258145e-06, 0.0020467147696763277, 0.0006513638654723763, 0.0013024836080148816, 0.061271630227565765, 0.04448597505688667], "count": [701]}, "observation.state.tcp_pose": {"min": [0.329509973526001, 0.13472501933574677, 0.9065698385238647, -1.2418558597564697, 1.2176263332366943, -1.457944631576538, 0.33256515860557556, -0.27573102712631226, 0.8725751042366028, -1.1264300346374512, 1.190514326095581, 0.5397114753723145], "max": [0.41699594259262085, 0.2551761567592621, 1.0522534847259521, -0.3088533282279968, 2.045456647872925, -0.8448981046676636, 0.4464086592197418, -0.09759767353534698, 1.1022801399230957, 1.291032314300537, 1.8187808990478516, 1.610926866531372], "mean": [0.35877570509910583, 0.19368183612823486, 0.975909948348999, -0.5462660193443298, 1.8139288425445557, -1.10574471950531, 0.37933775782585144, -0.20707127451896667, 1.0043864250183105, 0.4059138596057892, 1.5696041584014893, 1.1405218839645386], "std": [0.02367304638028145, 0.03905515372753143, 0.03971380740404129, 0.2510671615600586, 0.2148890197277069, 0.11697801202535629, 0.022730164229869843, 0.05460692197084427, 0.06684982776641846, 0.7965331673622131, 0.18090583384037018, 0.30681461095809937], "count": [701]}, "action.tcp_pose": {"min": [0.3292998671531677, 0.1348109245300293, 0.906450629234314, -1.2305166721343994, 1.2178406715393066, -1.4573872089385986, 0.33164286613464355, -0.27501896023750305, 0.8723821043968201, -1.1263103485107422, 1.1901525259017944, 0.540931224822998], "max": [0.4169604778289795, 0.2551870346069336, 1.0518072843551636, -0.3088676929473877, 2.045389413833618, -0.8447845578193665, 0.4464307427406311, -0.09769533574581146, 1.1032451391220093, 1.2911262512207031, 1.8190432786941528, 1.6105533838272095], "mean": [0.3587885797023773, 0.19380348920822144, 0.9759619235992432, -0.5458866953849792, 1.8137576580047607, -1.105628490447998, 0.3795427680015564, -0.20732484757900238, 1.0045802593231201, 0.40971359610557556, 1.5695351362228394, 1.1416301727294922], "std": [0.023694530129432678, 0.03911840170621872, 0.03976784273982048, 0.2501574456691742, 0.21473437547683716, 0.11675915867090225, 0.022821160033345222, 0.05459703132510185, 0.06682159006595612, 0.7934555411338806, 0.18116837739944458, 0.30493658781051636], "count": [701]}, "subtask_index": {"min": [0], "max": [4], "mean": [1.9686162624821684], "std": [1.3339148767423616], "count": [701]}, "observation.tactile": {"min": [-0.9278828501701355, -4.8609726945869625e-05, -0.00011190365330548957, -0.010482457466423512, -0.003102487651631236, -0.009928194805979729, -0.049792006611824036, -4.386298678582534e-05, -9.937245340552181e-05, -0.0026035902556031942, -5.758701445301995e-05, -0.0007880412740632892, -0.43658247590065, -3.506924258545041e-05, -7.722831651335582e-05, -0.023956434801220894, -0.002137490315362811, -0.0065090227872133255, -0.014221595600247383, -3.574745642254129e-05, -8.085623994702473e-05, -0.003135133069008589, -6.633001612499356e-05, -0.0003307158767711371, -0.0055192033760249615, -4.5150962250772864e-05, -0.00010303213639417663, -0.004598584026098251, -8.512446947861463e-05, -0.00010206556908087805, -0.00364099838770926, -3.809361805906519e-05, -8.414781768806279e-05, -0.11988925188779831, -0.00012075722042936832, -0.0002789818390738219, -0.009102496318519115, -3.4141106880269945e-05, -7.4764720920939e-05, -0.0012101531028747559, -4.510226790443994e-05, -0.00020102260168641806, -2.4695334434509277, -4.011762939626351e-05, -9.274348121834919e-05, -0.04029731824994087, -0.004874355625361204, -0.02357952669262886, -0.009295553900301456, -5.275884905131534e-05, -0.00011824396642623469, -0.0012639835476875305, -0.00010560873488429934, -8.801216608844697e-05, -0.005441624205559492, -0.033396895974874496, -1.2993310689926147, -0.031005103141069412, -0.005608165170997381, -0.00010760413715615869], "max": [0.008390477858483791, 0.22608548402786255, 0.9236158132553101, 2.06252047973976e-06, 0.001171063631772995, 0.0003103245981037617, 0.00767588522285223, 0.06499239802360535, 0.1999807506799698, 1.8272156694365549e-06, 0.00043555867159739137, 7.738848216831684e-05, 0.5676313638687134, 1.7161340713500977, 2.4632456302642822, 1.4219037893781206e-06, 0.004365573171526194, 0.006136861629784107, 0.030265554785728455, 0.06489946693181992, 0.17431452870368958, 1.4612294307880802e-06, 0.00023167571634985507, 0.0005689975223504007, 0.22067858278751373, 0.07742633670568466, 0.19736288487911224, 1.9490910290187458e-06, 0.0010671860072761774, 0.004893783945590258, 6.011042594909668, 5.504754066467285, 10.85285472869873, 1.6204949133680202e-06, 0.036209166049957275, 0.060324590653181076, 0.010084801353514194, 0.020623715594410896, 0.05842316150665283, 1.3467280268741888e-06, 0.0002868477313313633, 0.0001470364659326151, 0.22812029719352722, 1.9386661052703857, 4.468759059906006, 1.7056704564311076e-06, 0.003431370249018073, 0.0029820899944752455, 0.009721768088638783, 0.01953696645796299, 0.05988806113600731, 2.194053195125889e-06, 0.00026900891680270433, 0.00011294947762507945, 4.11008358001709, 3.2216782569885254, 1.9329599142074585, 0.02876923233270645, 0.0066059953533113, 0.08178963512182236], "mean": [-0.15693557262420654, 0.04759610816836357, 0.27296289801597595, -0.003007336053997278, -0.0007576713687740266, -0.0015751725295558572, -8.615137630840763e-05, 0.0008379054488614202, 0.002516687847673893, -4.0391183574683964e-05, 3.21556581184268e-06, -1.1690859764712513e-06, -0.03618810325860977, 0.15003176033496857, 0.3269869387149811, -0.0031672543846070766, 0.0005460282554849982, -0.0005769627750851214, 0.0002710054686758667, 0.003226841799914837, 0.009044383652508259, -0.00016746357141528279, 2.055681306956103e-06, 3.113502771157073e-06, 0.0014603739837184548, 0.0016099396161735058, 0.004426246974617243, -9.839957056101412e-05, 1.0919824489974417e-05, 2.916704397648573e-05, 1.120996356010437, 1.4183200597763062, 3.022693157196045, -0.033006664365530014, 0.009801388718187809, 0.007976042106747627, -0.001095821033231914, 0.004528495483100414, 0.013118918053805828, -0.0002458325179759413, 2.712882087507751e-05, -2.9414153686957434e-05, -0.6335338354110718, 0.4552384912967682, 1.4973080158233643, -0.01293035689741373, -0.0006787810125388205, -0.005297977011650801, 0.00019142376550007612, 0.001017789589241147, 0.0030726066324859858, -5.827700806548819e-05, 8.532409083272796e-06, 2.080919784930302e-06, 0.19283527135849, 0.11483986675739288, 0.019524043425917625, -0.00017082747945096344, 9.406177559867501e-05, 0.0034576598554849625], "std": [0.21200647950172424, 0.05853916332125664, 0.3535243570804596, 0.003934589214622974, 0.0011340361088514328, 0.0022027436643838882, 0.0036517365369945765, 0.0051534962840378284, 0.015441017225384712, 0.00021067706984467804, 3.315007415949367e-05, 5.7819423091132194e-05, 0.0928327739238739, 0.328574538230896, 0.6067847609519958, 0.005712949205189943, 0.0010547192068770528, 0.0013040415942668915, 0.004307842813432217, 0.01044144295156002, 0.029025468975305557, 0.0005242342012934387, 2.993771886394825e-05, 8.273534331237897e-05, 0.012587323784828186, 0.005668248049914837, 0.014134920202195644, 0.0003263170656282455, 7.413497951347381e-05, 0.0002683101047296077, 1.7075523138046265, 2.0468697547912598, 4.2968621253967285, 0.04711533337831497, 0.014273559674620628, 0.014017975889146328, 0.0019268377218395472, 0.00456905597820878, 0.013196577318012714, 0.0002590483636595309, 4.103332321392372e-05, 3.880382428178564e-05, 0.7811092734336853, 0.5059295892715454, 1.6379013061523438, 0.014237302355468273, 0.0013591161696240306, 0.006966630462557077, 0.0011157854460179806, 0.002596623729914427, 0.007833103649318218, 0.00015854307275731117, 3.677267886814661e-05, 1.6840976968524046e-05, 0.7100488543510437, 0.4918864965438843, 0.2746870517730713, 0.005159270018339157, 0.0009284773259423673, 0.013362782076001167], "count": [701]}, "timestamp": {"min": [0.0], "max": [23.333333333333332], "mean": [11.666666666666664], "std": [6.745368781616021], "count": [701]}, "frame_index": {"min": [0], "max": [700], "mean": [350.0], "std": [202.36106344848062], "count": [701]}, "episode_index": {"min": [8], "max": [8], "mean": [8.0], "std": [0.0], "count": [701]}, "index": {"min": [5657], "max": [6357], "mean": [6007.0], "std": [202.36106344848062], "count": [701]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [701]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5362570285797119]], [[0.5358446836471558]], [[0.5374372601509094]]], "std": [[[0.28301581740379333]], [[0.28308045864105225]], [[0.2837069034576416]]], "count": [701]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2242755889892578]], [[0.22369585931301117]], [[0.21902216970920563]]], "std": [[[0.14913232624530792]], [[0.14941075444221497]], [[0.14979609847068787]]], "count": [701]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29903826117515564]], [[0.3002508580684662]], [[0.3007592558860779]]], "std": [[[0.1705973595380783]], [[0.17251911759376526]], [[0.17258381843566895]]], "count": [701]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5349633097648621]], [[0.5348170399665833]], [[0.5362114906311035]]], "std": [[[0.2863013744354248]], [[0.2864464223384857]], [[0.28702273964881897]]], "count": [701]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.4941176474094391]], [[0.4941176474094391]], [[0.4941176474094391]]], "mean": [[[0.001226742984727025]], [[0.001226742984727025]], [[0.001226742984727025]]], "std": [[[0.019405946135520935]], [[0.019405946135520935]], [[0.019405946135520935]]], "count": [701]}, "observation.images.tactile_raw": {"min": [[[0.09019608050584793]], [[0.09019608050584793]], [[0.09019608050584793]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5080702900886536]], [[0.5080702900886536]], [[0.5080702900886536]]], "std": [[[0.23605278134346008]], [[0.23605278134346008]], [[0.23605278134346008]]], "count": [701]}}}
+{"episode_index": 9, "stats": {"observation.state": {"min": [0.9802019596099854, -0.8686347603797913, -0.23116813600063324, 1.146591305732727, -0.9835966229438782, -0.7700565457344055, -0.0008314655278809369, 0.010091353207826614, -0.288949191570282, -0.029968613758683205, -0.04163172096014023, 0.013781149871647358, 0.026484856382012367, -0.14914317429065704, 0.01490227784961462, 0.01267479918897152, 0.012061117216944695, -0.163741335272789, 0.017593055963516235, 0.012920012697577477, 9.076516289496794e-05, -0.037770289927721024, 0.016038650646805763, 0.011280234903097153, 0.03194347769021988, -0.005595371127128601, -0.03399882838129997, 0.011159866116940975, 0.0024086730554699898, 0.9103296399116516, -0.8589216470718384, -0.2338474690914154, 0.9101145267486572, -2.0855658054351807, -0.7675845623016357, -0.047579891979694366, 0.01235758513212204, -0.29146724939346313, 0.022292453795671463, -0.12718071043491364, 0.014912914484739304, 0.0151967229321599, -0.1727524697780609, 0.008532200939953327, 0.006861968897283077, 0.005549988243728876, -0.10055992007255554, 0.018372738733887672, 0.006254479754716158, -0.045349519699811935, -0.025685131549835205, 0.01026743184775114, 0.009912275709211826, 0.014148936606943607, -0.21340470016002655, -0.03860387206077576, 0.010745028033852577, 0.004338449332863092, 0.5621080994606018, -1.1069588661193848, 0.5444673299789429, -0.014572817832231522, -0.009587380103766918, -0.012751215137541294, -0.8028472065925598], "max": [1.2915104627609253, -0.5659303069114685, -6.2317967604030855e-06, 1.570002555847168, 0.12070271372795105, -0.31496521830558777, 0.5200135111808777, 1.3956050872802734, -0.001322194584645331, 0.2587015926837921, 0.14867407083511353, 0.2294798344373703, 0.6098648309707642, 0.03260250762104988, 0.45530766248703003, 0.5396656394004822, 0.7829192280769348, 0.03982726112008095, 0.3607890009880066, 0.323696494102478, 0.6968880891799927, 0.12995299696922302, 0.38902780413627625, 0.43041110038757324, 0.14113828539848328, 0.13976040482521057, 0.09137585759162903, 0.7011023163795471, 1.3049134016036987, 1.3461921215057373, -0.4941902756690979, -0.0019604992121458054, 1.5678837299346924, 0.2672064006328583, 0.005544621497392654, 0.6589702367782593, 1.4190925359725952, 0.012318558990955353, 0.46824175119400024, 0.141807422041893, 0.6093120574951172, 0.7291162014007568, 0.13246747851371765, 0.44026464223861694, 0.5488719940185547, 0.8992011547088623, 0.17336846888065338, 0.5771471858024597, 0.39056867361068726, 0.9405041933059692, 0.16722187399864197, 0.38393911719322205, 0.6237226128578186, 0.0619378536939621, 0.20810934901237488, 0.1335299164056778, 0.9701542854309082, 1.2034997940063477, 0.5627791881561279, -1.106767177581787, 0.5594236254692078, -0.00028762139845639467, 0.0, 0.2058410495519638, -0.6004576086997986], "mean": [1.0626137256622314, -0.7041862607002258, -0.2224355787038803, 1.3625718355178833, -0.6449727416038513, -0.4893931746482849, 0.25444361567497253, 1.1771585941314697, -0.23057477176189423, 0.12050441652536392, 0.08022213727235794, 0.18280579149723053, 0.4508441388607025, -0.061371900141239166, 0.3685707151889801, 0.4773588180541992, 0.47268158197402954, -0.04150262847542763, 0.2806176543235779, 0.26539182662963867, 0.26045024394989014, 0.05186295509338379, 0.19298212230205536, 0.21960951387882233, 0.05454051494598389, 0.05366174876689911, 0.017261672765016556, 0.3459974229335785, 0.7986993789672852, 1.1466072797775269, -0.7112806439399719, -0.22282201051712036, 1.2872775793075562, -0.6560022830963135, -0.2015478014945984, 0.36493077874183655, 1.1841306686401367, -0.17035669088363647, 0.30989575386047363, -0.026591656729578972, 0.33901843428611755, 0.4787018597126007, 0.020946020260453224, 0.2944529354572296, 0.40757086873054504, 0.5093883275985718, 0.07079722732305527, 0.41527411341667175, 0.3143385648727417, 0.43197840452194214, 0.09831185638904572, 0.20921315252780914, 0.32229098677635193, 0.025632966309785843, 0.07631056755781174, 0.06182781606912613, 0.49786269664764404, 0.7190684080123901, 0.5623078942298889, -1.1068698167800903, 0.5581992864608765, -0.01291633490473032, -0.006756508257240057, 0.04688006266951561, -0.7376984357833862], "std": [0.06279928982257843, 0.09113972634077072, 0.03784388303756714, 0.11585924029350281, 0.2641761302947998, 0.07406862825155258, 0.1674591302871704, 0.2759935259819031, 0.05394534766674042, 0.07962673157453537, 0.043851837515830994, 0.03167548403143883, 0.14769352972507477, 0.05247010290622711, 0.09521562606096268, 0.10868675261735916, 0.24642030894756317, 0.05988597497344017, 0.08697039633989334, 0.07908539474010468, 0.2804650664329529, 0.06630930304527283, 0.14024125039577484, 0.15675809979438782, 0.0355917289853096, 0.055277056992053986, 0.05159495770931244, 0.2612830400466919, 0.5159940123558044, 0.1432608813047409, 0.08513937145471573, 0.03603798896074295, 0.18963836133480072, 0.7240069508552551, 0.13298015296459198, 0.2629111409187317, 0.3019844591617584, 0.07210715860128403, 0.08386804908514023, 0.08964839577674866, 0.19376304745674133, 0.23732440173625946, 0.10264323651790619, 0.09675337374210358, 0.12852366268634796, 0.3305325210094452, 0.08589375019073486, 0.09464764595031738, 0.0584874227643013, 0.41863036155700684, 0.05808742716908455, 0.16714581847190857, 0.27067410945892334, 0.014371582306921482, 0.0984710156917572, 0.05362129211425781, 0.4211808145046234, 0.4737963080406189, 8.494063513353467e-05, 2.085949745378457e-05, 0.0022165013942867517, 0.0021027519833296537, 0.001235909410752356, 0.06462231278419495, 0.04965649172663689], "count": [702]}, "observation.state.joint_torque": {"min": [-32.44649887084961, -18.89550018310547, -16.55500030517578, -12.767000198364258, -0.18320000171661377, -2.2432000637054443, 0.9240000247955322, -1.0850454568862915, -0.3413054049015045, -0.4796781837940216, -0.6151313185691833, -0.10127562284469604, -0.400096595287323, -0.7109630107879639, -0.10459613054990768, -0.02354559674859047, -0.45766445994377136, -0.499880850315094, -0.14278201758861542, -0.022118592634797096, -0.3003123104572296, -0.32333943247795105, -0.10293588042259216, -0.02497260272502899, -0.08048360049724579, -0.32333946228027344, -0.3358124792575836, -0.14444229006767273, -0.1655326783657074, 7.613999843597412, -24.352500915527344, -1.2400000095367432, -16.099000930786133, -2.3032000064849854, -5.808800220489502, -3.0648000240325928, -1.2544245719909668, -0.7131754159927368, -0.34795311093330383, -0.9767539501190186, -0.12119869887828827, -0.4116101562976837, -0.6409221291542053, -0.06973075866699219, -0.019264578819274902, -0.442313015460968, -1.1292893886566162, -0.10127562284469604, -0.012843053787946701, -0.21683891117572784, -1.0573296546936035, -0.12285894900560379, -0.02497260272502899, -0.1240239068865776, -0.38954249024391174, -0.499880850315094, -0.23741662502288818, -0.1783757358789444, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-19.1924991607666, 20.512500762939453, -9.692000389099121, 9.288000106811523, 2.0952000617980957, 2.2351999282836914, 3.3671998977661133, 0.8316134810447693, 1.2391422986984253, 1.028946876525879, 0.7070903778076172, 0.09463459998369217, 0.8021121025085449, 0.5737596154212952, 0.12451920658349991, 0.04423718526959419, 0.7723687291145325, 0.4192858934402466, 0.12285894900560379, 0.0321076326072216, 0.4403941035270691, 0.7042466998100281, 0.13946151733398438, 0.027826614677906036, 0.048378121107816696, 0.2130010575056076, 0.33965033292770386, 0.17100638151168823, 0.05279921740293503, 37.005001068115234, 21.901500701904297, 17.354000091552734, 8.859999656677246, 0.86080002784729, 2.6967999935150146, 3.691200017929077, 1.101601243019104, 2.4095141887664795, 1.6900578737258911, 0.9345026016235352, 0.4515896737575531, 1.0803567171096802, 0.5670433640480042, 0.19757047295570374, 0.02925362065434456, 1.4574261903762817, 0.6390031576156616, 0.13448072969913483, 0.020691584795713425, 1.3787500858306885, 0.6294085383415222, 0.21915379166603088, 0.052085720002651215, 0.05365573614835739, 1.3048714399337769, 0.9335587024688721, 0.26232045888900757, 0.17552173137664795, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-25.835235595703125, 1.922097086906433, -12.878213882446289, -3.9374873638153076, 0.5187660455703735, 0.8166094422340393, 2.0454163551330566, 0.020080724731087685, 0.418016642332077, 0.3599691092967987, 0.16148942708969116, -0.008894886821508408, 0.2536594271659851, 0.057379286736249924, 0.023307405412197113, 0.004895937163382769, 0.16462591290473938, -0.022759221494197845, 0.010377774015069008, 0.0032270222436636686, 0.09089348465204239, 0.031969763338565826, 0.022626342251896858, 0.0071655148640275, -0.040224142372608185, -0.07346875220537186, -0.009157230146229267, 0.009876365773379803, 0.007517219055444002, 25.669153213500977, 3.116539478302002, 12.321541786193848, -2.2775983810424805, -0.2610584795475006, 0.426150381565094, -1.2363855838775635, 0.058253996074199677, 0.9847466945648193, 0.618291437625885, -0.038971222937107086, 0.07064364850521088, 0.4456191658973694, 0.052309900522232056, 0.06530580669641495, 0.00438164034858346, 0.49864527583122253, -0.20933791995048523, 0.04221590235829353, 0.003462833585217595, 0.5117429494857788, -0.206078439950943, 0.05355872958898544, 0.017441174015402794, -0.028643431141972542, 0.06687283515930176, 0.07459487020969391, 0.01417127437889576, -0.0018010376952588558, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.4325515031814575, 2.4130420684814453, 1.0462925434112549, 1.4345016479492188, 0.286691278219223, 0.5397273898124695, 0.47013652324676514, 0.3069704473018646, 0.5293204188346863, 0.47872763872146606, 0.3049840033054352, 0.02703869342803955, 0.2671581208705902, 0.23533916473388672, 0.04291623830795288, 0.009378311224281788, 0.3170616626739502, 0.16521704196929932, 0.05541191250085831, 0.008719362318515778, 0.1764172911643982, 0.14643627405166626, 0.05611149221658707, 0.011048448272049427, 0.019795816391706467, 0.10885656625032425, 0.13105909526348114, 0.05739390850067139, 0.013259424827992916, 3.459535837173462, 3.464655876159668, 2.9792678356170654, 1.905086874961853, 0.5065898895263672, 1.2124181985855103, 1.210448145866394, 0.6046565175056458, 1.0555171966552734, 0.7041270136833191, 0.45197269320487976, 0.1477302759885788, 0.47203829884529114, 0.21662050485610962, 0.06170405074954033, 0.010235852561891079, 0.5705090761184692, 0.3182539939880371, 0.0583048090338707, 0.007977481000125408, 0.5722776055335999, 0.37607285380363464, 0.09763329476118088, 0.02262459695339203, 0.03625612333416939, 0.2250411957502365, 0.23171192407608032, 0.06407352536916733, 0.01901843026280403, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [702]}, "observation.state.tcp": {"min": [0.32961103320121765, 0.1085575670003891, 0.9038277864456177, -1.2261888980865479, 1.2178326845169067, -1.429836392402649, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3503607213497162, -0.27059948444366455, 0.8758396506309509, -1.148208498954773, 1.219002604484558, 0.34577998518943787, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4113880693912506, 0.2389931082725525, 1.060274362564087, -0.24050845205783844, 2.009392499923706, -0.7960385680198669, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4315893054008484, -0.09391460567712784, 1.0813515186309814, 1.2642093896865845, 1.9182219505310059, 1.527756690979004, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.35138386487960815, 0.18437176942825317, 0.9593556523323059, -0.5525367856025696, 1.7784405946731567, -1.061301350593567, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.37628373503685, -0.20984426140785217, 0.9951093792915344, 0.4314732551574707, 1.6588112115859985, 1.0803985595703125, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.019288508221507072, 0.047017212957143784, 0.03710786998271942, 0.2407378852367401, 0.1858035773038864, 0.11955706775188446, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01777428574860096, 0.05412783473730087, 0.06406088173389435, 0.7878931760787964, 0.18134793639183044, 0.36710843443870544, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [702]}, "action": {"min": [0.9802137613296509, -0.8689042925834656, -0.2311517298221588, 1.1465548276901245, -0.983569324016571, -0.7699999809265137, -0.000862864195369184, 0.0, -0.29433032870292664, -0.010141207836568356, -0.052424006164073944, 0.0, 0.0, -0.14917637407779694, 0.0, 0.0, 0.0, -0.1654854118824005, 0.0, 0.0, 0.0, -0.05914725363254547, 0.0, 0.0, -9.955771318459483e-09, 0.0, -0.12306846678256989, 0.0, 0.0, 0.9104176163673401, -0.8589333891868591, -0.23383620381355286, 0.9100341200828552, -2.085542917251587, -0.7642045617103577, -0.04764927923679352, 0.0, -0.2888578474521637, 0.0, -0.14136716723442078, 0.0, 0.0, -0.18292322754859924, 0.0, 0.0, 0.0, -0.1049027219414711, 0.0, 0.0, 0.0, -0.06468440592288971, 0.0, 0.0, -9.99999993922529e-09, -0.0002105214080074802, -0.10176536440849304, 0.0, 0.0, 0.5622998476028442, -1.1068999767303467, 0.5442000031471252, -0.014749347232282162, -0.011636863462626934, -0.012997269630432129, -0.8030117154121399], "max": [1.2915159463882446, -0.5659430623054504, -9.862754030516792e-18, 1.5700000524520874, 0.12070512026548386, -0.3094806373119354, 0.5199999809265137, 1.4295637607574463, 0.0, 0.32004573941230774, 0.1452934890985489, 0.2604250907897949, 0.6849475502967834, 0.04549083858728409, 0.47573110461235046, 0.557471513748169, 0.8509199023246765, 0.035873882472515106, 0.3807465434074402, 0.34021449089050293, 0.716545820236206, 0.13418146967887878, 0.4047350585460663, 0.44501325488090515, 0.13537883758544922, 0.14375753700733185, 0.09938517957925797, 0.7215133309364319, 1.400991678237915, 1.3461641073226929, -0.4940376877784729, -0.0022240059915930033, 1.568328619003296, 0.26733148097991943, 0.005944175645709038, 0.6594200134277344, 1.4591014385223389, 0.03682950884103775, 0.48233768343925476, 0.144510418176651, 0.7027937173843384, 0.8680378794670105, 0.1413036733865738, 0.4708482027053833, 0.5654760003089905, 1.0123944282531738, 0.1525547206401825, 0.6038334369659424, 0.4075263738632202, 1.101385474205017, 0.15020957589149475, 0.4380221962928772, 0.6490539908409119, 0.042608294636011124, 0.22540882229804993, 0.13676227629184723, 0.9881697297096252, 1.221589207649231, 0.5626999735832214, -1.106863021850586, 0.5602622032165527, -4.139822154034535e-20, 3.4931549693604526e-20, 0.2060561180114746, -0.6000000238418579], "mean": [1.0628247261047363, -0.7043238282203674, -0.22243823111057281, 1.3626384735107422, -0.6452226042747498, -0.48947978019714355, 0.25457313656806946, 1.175956130027771, -0.2086617648601532, 0.167256698012352, 0.08611290901899338, 0.1801603138446808, 0.47574466466903687, -0.057646770030260086, 0.3728954493999481, 0.4803341031074524, 0.49454477429389954, -0.04199373722076416, 0.28328973054885864, 0.2688947916030884, 0.2665305435657501, 0.05260525643825531, 0.19880254566669464, 0.22703717648983002, 0.027272969484329224, 0.04923819378018379, 0.00293383258394897, 0.3477483093738556, 0.8148210644721985, 1.1470050811767578, -0.7116510272026062, -0.22283507883548737, 1.2875194549560547, -0.651800274848938, -0.2015364170074463, 0.3649592697620392, 1.1850788593292236, -0.12121549248695374, 0.3875710368156433, -0.02875497005879879, 0.35619616508483887, 0.5469745397567749, 0.02437273971736431, 0.31047818064689636, 0.41098031401634216, 0.5903226733207703, 0.06095997989177704, 0.42498940229415894, 0.31702032685279846, 0.518109142780304, 0.08825164288282394, 0.22296227514743805, 0.3402446210384369, 0.003251119516789913, 0.08473797142505646, 0.06372856348752975, 0.5016794204711914, 0.7176366448402405, 0.5623115301132202, -1.1068686246871948, 0.5582337975502014, -0.012953766621649265, -0.006800044793635607, 0.04689883440732956, -0.7376846075057983], "std": [0.06326683610677719, 0.09118691086769104, 0.03791428357362747, 0.11582818627357483, 0.26364266872406006, 0.07462694495916367, 0.16753962635993958, 0.30015072226524353, 0.07024884223937988, 0.12517403066158295, 0.04566674679517746, 0.04078106954693794, 0.1765688955783844, 0.05593739449977875, 0.10844728350639343, 0.12381812930107117, 0.27400389313697815, 0.06172458454966545, 0.09787590801715851, 0.08754926919937134, 0.29026007652282715, 0.07056376338005066, 0.1441333144903183, 0.16219216585159302, 0.043399468064308167, 0.059275489300489426, 0.0710902139544487, 0.2779267132282257, 0.5616610050201416, 0.14309434592723846, 0.08524516224861145, 0.03603234142065048, 0.18938162922859192, 0.7211301922798157, 0.1329132318496704, 0.26293694972991943, 0.3226452171802521, 0.11299090087413788, 0.11097917705774307, 0.09077323973178864, 0.2202712446451187, 0.3014482855796814, 0.10879790782928467, 0.11156822741031647, 0.13816803693771362, 0.4117532968521118, 0.07769133895635605, 0.11169479787349701, 0.07113021612167358, 0.5048137307167053, 0.04890761896967888, 0.18584121763706207, 0.291034072637558, 0.008516821078956127, 0.08939684927463531, 0.058186404407024384, 0.43325263261795044, 0.4804750084877014, 6.737028888892382e-05, 7.306118732230971e-06, 0.0023850162979215384, 0.0022458939347416162, 0.0013651710469275713, 0.06474602967500687, 0.0499250590801239], "count": [702]}, "observation.state.tcp_pose": {"min": [0.32961103320121765, 0.1085575670003891, 0.9038277864456177, -1.2261888980865479, 1.2178326845169067, -1.429836392402649, 0.3503607213497162, -0.27059948444366455, 0.8758396506309509, -1.148208498954773, 1.219002604484558, 0.34577998518943787], "max": [0.4113880693912506, 0.2389931082725525, 1.060274362564087, -0.24050845205783844, 2.009392499923706, -0.7960385680198669, 0.4315893054008484, -0.09391460567712784, 1.0813515186309814, 1.2642093896865845, 1.9182219505310059, 1.527756690979004], "mean": [0.35138386487960815, 0.18437176942825317, 0.9593556523323059, -0.5525367856025696, 1.7784405946731567, -1.061301350593567, 0.37628373503685, -0.20984426140785217, 0.9951093792915344, 0.4314732551574707, 1.6588112115859985, 1.0803985595703125], "std": [0.019288508221507072, 0.047017212957143784, 0.03710786998271942, 0.2407378852367401, 0.1858035773038864, 0.11955706775188446, 0.01777428574860096, 0.05412783473730087, 0.06406088173389435, 0.7878931760787964, 0.18134793639183044, 0.36710843443870544], "count": [702]}, "action.tcp_pose": {"min": [0.32965555787086487, 0.10849278420209885, 0.9037986993789673, -1.21684992313385, 1.2178406715393066, -1.4346768856048584, 0.3499911427497864, -0.27181994915008545, 0.8755801320075989, -1.148327112197876, 1.2203445434570312, 0.3459780216217041], "max": [0.4115298092365265, 0.23886145651340485, 1.0604125261306763, -0.24032214283943176, 2.009320020675659, -0.7960330247879028, 0.43160170316696167, -0.09385061264038086, 1.080734372138977, 1.2629777193069458, 1.9172744750976562, 1.5291887521743774], "mean": [0.3514334261417389, 0.18439938127994537, 0.959456205368042, -0.5520723462104797, 1.7782008647918701, -1.06142258644104, 0.37640824913978577, -0.21003295481204987, 0.9952993988990784, 0.43564313650131226, 1.6590704917907715, 1.082497239112854], "std": [0.01936674863100052, 0.04703126102685928, 0.037395551800727844, 0.23981305956840515, 0.1862192004919052, 0.11956814676523209, 0.01785227097570896, 0.05410591512918472, 0.06401637196540833, 0.784763753414154, 0.18186955153942108, 0.3655600845813751], "count": [702]}, "subtask_index": {"min": [0], "max": [4], "mean": [2.0128205128205128], "std": [1.3391351417606487], "count": [702]}, "observation.tactile": {"min": [-1.6392698287963867, -4.405355502967723e-05, -0.00010326525080017745, -0.027931367978453636, -0.009984517470002174, -0.01686212792992592, -0.013671426102519035, -4.347450521891005e-05, -9.844048327067867e-05, -0.008879052475094795, -0.002548746531829238, -0.000244802882662043, -0.29942575097084045, -3.766610461752862e-05, -8.007490396266803e-05, -0.021901987493038177, -0.0027215464506298304, -0.004551371559500694, -0.46960288286209106, -3.892781387548894e-05, -8.940619591157883e-05, -0.011793534271419048, -0.0010704813757911325, -0.006371313706040382, -0.9342412948608398, -0.0076284753158688545, -9.127656812779605e-05, -0.010163955390453339, -0.0013284760061651468, -0.0212112870067358, -0.07734502106904984, -4.026653914479539e-05, -8.923896530177444e-05, -0.1148802787065506, -1.5609523416060256e-06, -0.008811200968921185, -0.00406903401017189, -3.612844011513516e-05, -7.805346103850752e-05, -0.001119139138609171, -2.5883493435685523e-05, -9.67056694207713e-05, -0.001454989891499281, -4.265112511347979e-05, -9.866112668532878e-05, -0.0009041353478096426, -7.405861651932355e-06, -8.217305003199726e-05, -0.5934228301048279, -5.2505230996757746e-05, -0.00011815311154350638, -0.012629815377295017, -0.0027959595900028944, -0.007205334957689047, -0.020116319879889488, -0.9639398455619812, -0.8151592016220093, -0.14532425999641418, -0.008766159415245056, -0.0003968796809203923], "max": [0.011102466844022274, 0.6388153433799744, 2.5003888607025146, 1.9269702988822246e-06, 0.0002814051113091409, 0.00011479001841507852, 0.48224779963493347, 0.1791376918554306, 0.5878412127494812, 1.8013572571362602e-06, 0.0002721706114243716, 0.0074083139188587666, 0.9127647280693054, 1.514107346534729, 2.119595527648926, 1.4600722124669119e-06, 0.003366663120687008, 0.01080228853970766, 0.3408665359020233, 0.27818718552589417, 0.6328043937683105, 1.6538787122044596e-06, 0.0014460714301094413, 0.00662383995950222, 0.8163824081420898, 0.21211419999599457, 0.462226927280426, 1.681892285887443e-06, 0.003910392988473177, 0.015483846887946129, 1.3741865158081055, 4.3730363845825195, 10.36172103881836, 1.7117590687121265e-06, 0.04167350381612778, 0.0036460086703300476, 0.009482311084866524, 0.01592661440372467, 0.04790129512548447, 1.4414837323784013e-06, 0.0001804870698833838, 0.00018810191249940544, 0.009412593208253384, 0.016324015334248543, 0.04997538402676582, 1.828938138714875e-06, 0.00027759664226323366, 0.00012474531831685454, 0.09718771278858185, 0.5468877553939819, 1.1712288856506348, 2.173906068492215e-06, 0.0026891627348959446, 0.001949214725755155, 4.577752590179443, 6.159043788909912, 7.973302841186523, 0.018555114045739174, 0.035042472183704376, 0.09597416967153549], "mean": [-0.4297260642051697, 0.18956850469112396, 0.847229540348053, -0.009355450049042702, -0.002646209904924035, -0.004112638998776674, 0.00979637261480093, 0.008739897049963474, 0.028632324188947678, -0.00037067756056785583, -4.53985485364683e-05, 0.00013885213411413133, 0.06402163952589035, 0.24794623255729675, 0.49554356932640076, -0.005006159655749798, 0.0004601165128406137, 0.0004207449092064053, 0.005546409636735916, 0.04674201086163521, 0.11782938987016678, -0.002143331803381443, 0.00011074445501435548, 0.00014699080202262849, 0.027942515909671783, 0.009692512452602386, 0.02335543744266033, -0.00044796630390919745, 0.00010427556844661012, 0.00040944002103060484, 0.22649236023426056, 0.8223831057548523, 2.18802547454834, -0.023983510211110115, 0.00924789160490036, -0.0007767347851768136, 4.3421154259704053e-05, 0.0011860596714541316, 0.003519967431202531, -6.828958430560306e-05, 6.378987109201262e-06, -7.206949135252216e-07, 0.00047573467600159347, 0.00450644688680768, 0.013292632065713406, -0.00023436782066710293, 5.9712296206271276e-05, -1.0929128620773554e-05, -0.10967031121253967, 0.10765693336725235, 0.3075382709503174, -0.003207715228199959, -2.769757338683121e-05, -0.0010989943984895945, 0.2826562821865082, 0.161402627825737, 0.2391580492258072, -0.004205143079161644, 0.0008939935360103846, 0.004818473476916552], "std": [0.4785800874233246, 0.2325272411108017, 1.0188573598861694, 0.011321253143250942, 0.0034861620515584946, 0.004632571712136269, 0.039897654205560684, 0.021492255851626396, 0.07409858703613281, 0.0009573748102411628, 0.00022786611225456, 0.0005872091860510409, 0.17635811865329742, 0.34460461139678955, 0.6566405892372131, 0.006459229160100222, 0.0008461007382720709, 0.0019325334578752518, 0.08952520787715912, 0.07666520774364471, 0.18850106000900269, 0.003454310353845358, 0.00024050072534009814, 0.0013812936376780272, 0.1273900866508484, 0.021007752045989037, 0.047032587230205536, 0.0009717052453197539, 0.0004041230131406337, 0.0025107786059379578, 0.39390110969543457, 1.3334627151489258, 3.4599838256835938, 0.03806490823626518, 0.014454878866672516, 0.0013857911108061671, 0.0009049774962477386, 0.002361553255468607, 0.0069674355909228325, 0.0001498201017966494, 1.7985257727559656e-05, 1.8142047338187695e-05, 0.0011534979566931725, 0.0040359883569180965, 0.011966779828071594, 0.00021327126887626946, 5.73989273107145e-05, 2.1322215616237372e-05, 0.14234378933906555, 0.14727166295051575, 0.38666093349456787, 0.004039187915623188, 0.0007721946458332241, 0.0015641881618648767, 0.909399151802063, 0.7795084118843079, 1.1416162252426147, 0.020355772227048874, 0.005071277264505625, 0.0162784643471241], "count": [702]}, "timestamp": {"min": [0.0], "max": [23.366666666666667], "mean": [11.683333333333332], "std": [6.754991295879471], "count": [702]}, "frame_index": {"min": [0], "max": [701], "mean": [350.5], "std": [202.6497388763841], "count": [702]}, "episode_index": {"min": [9], "max": [9], "mean": [9.0], "std": [0.0], "count": [702]}, "index": {"min": [6358], "max": [7059], "mean": [6708.5], "std": [202.6497388763841], "count": [702]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [702]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5370666980743408]], [[0.5367029905319214]], [[0.5386025905609131]]], "std": [[[0.2812117040157318]], [[0.2813451588153839]], [[0.282243549823761]]], "count": [702]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.22057728469371796]], [[0.21999162435531616]], [[0.21509474515914917]]], "std": [[[0.14777307212352753]], [[0.1480664759874344]], [[0.14857785403728485]]], "count": [702]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29715844988822937]], [[0.29823437333106995]], [[0.2986166179180145]]], "std": [[[0.16829034686088562]], [[0.17003218829631805]], [[0.170076385140419]]], "count": [702]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5357304215431213]], [[0.5356341004371643]], [[0.5373172163963318]]], "std": [[[0.2847786545753479]], [[0.2849622666835785]], [[0.2857981324195862]]], "count": [702]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.49803921580314636]], [[0.49803921580314636]], [[0.49803921580314636]]], "mean": [[[0.0008182243327610195]], [[0.0008182243327610195]], [[0.0008182243327610195]]], "std": [[[0.01521111000329256]], [[0.01521111000329256]], [[0.01521111000329256]]], "count": [702]}, "observation.images.tactile_raw": {"min": [[[0.0784313753247261]], [[0.0784313753247261]], [[0.0784313753247261]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5086602568626404]], [[0.5086602568626404]], [[0.5086602568626404]]], "std": [[[0.23627802729606628]], [[0.23627802729606628]], [[0.23627802729606628]]], "count": [702]}}}
+{"episode_index": 10, "stats": {"observation.state": {"min": [0.9760791063308716, -0.8854292035102844, -0.2312660664319992, 1.0263820886611938, -1.006509780883789, -0.7700424194335938, 0.06890701502561569, 0.010143930092453957, -0.28908103704452515, -0.006838805973529816, -0.0012275234330445528, 0.01368009950965643, 0.017612332478165627, -0.15498338639736176, 0.014884904026985168, 0.012823347002267838, 0.00702653406187892, -0.16156049072742462, 0.01679174229502678, 0.0036702114157378674, -0.012338077649474144, -0.03967098891735077, 0.014244562946259975, 0.011815445497632027, 0.0323973074555397, -0.003437587758526206, -0.03381901606917381, 0.011083990335464478, 0.003598820185288787, 0.8892500400543213, -0.8958868384361267, -0.23374798893928528, 0.9026618599891663, -1.9914169311523438, -0.7691300511360168, -0.03409308195114136, 0.012167513370513916, -0.291330486536026, 0.022318022325634956, -0.11434101313352585, 0.014750879257917404, 0.005034337751567364, -0.169144868850708, 0.00862084235996008, 0.006755990907549858, 0.005677551496773958, -0.15104436874389648, 0.010600720532238483, 0.002666301792487502, -0.04120321571826935, -0.0034172271843999624, 0.013954531401395798, 0.010224001482129097, 0.029413174837827682, -0.2307376265525818, -0.0443434938788414, 0.010748573578894138, 0.0027492220979183912, 0.5621080994606018, -1.1069588661193848, 0.5441796779632568, -0.014572817832231522, -0.009012137539684772, -0.017832526937127113, -0.7895207405090332], "max": [1.294686198234558, -0.5781401991844177, 2.8043086786055937e-05, 1.5700082778930664, 0.07011190801858902, -0.24311354756355286, 0.5200314521789551, 1.3863741159439087, -0.002597412560135126, 0.2670086622238159, 0.14791929721832275, 0.19758760929107666, 0.6862298846244812, 0.011301141232252121, 0.4741349220275879, 0.5470947027206421, 0.7546718716621399, 0.025746459141373634, 0.3722740113735199, 0.32809746265411377, 0.49551922082901, 0.08154832571744919, 0.327053427696228, 0.406724750995636, 0.2591431140899658, 0.029539018869400024, 0.00017907936125993729, 0.8260605931282043, 1.2905712127685547, 1.347619652748108, -0.5512958765029907, -0.0003336408408358693, 1.5697489976882935, 0.2419738471508026, -0.03466389328241348, 0.6632246375083923, 1.412682056427002, 0.011149216443300247, 0.5548966526985168, 0.1512569636106491, 0.5434229373931885, 0.721804141998291, 0.0866071879863739, 0.41033563017845154, 0.5375163555145264, 0.8850079774856567, 0.15708841383457184, 0.6254382729530334, 0.37589535117149353, 0.9510156512260437, 0.16237221658229828, 0.3496156632900238, 0.4787854254245758, 0.031299129128456116, 0.22792436182498932, 0.14205384254455566, 0.7842508554458618, 1.2915711402893066, 0.5627791881561279, -1.106767177581787, 0.5593277215957642, 0.0, 0.0, 0.16528643667697906, -0.5998823642730713], "mean": [1.1059975624084473, -0.7250864505767822, -0.22140932083129883, 1.3422820568084717, -0.7407703995704651, -0.3720703423023224, 0.23876401782035828, 1.1708422899246216, -0.19792330265045166, 0.09460216760635376, 0.08679797500371933, 0.18857187032699585, 0.4248383045196533, -0.055189043283462524, 0.3397793173789978, 0.44104844331741333, 0.4777948558330536, -0.0463981106877327, 0.24378405511379242, 0.23373110592365265, 0.25492429733276367, 0.017013106495141983, 0.21212910115718842, 0.26046478748321533, 0.11864657700061798, 0.026417328044772148, -0.029833868145942688, 0.43658512830734253, 0.8675731420516968, 1.1561415195465088, -0.708701491355896, -0.22204077243804932, 1.2801182270050049, -0.6220987439155579, -0.21479308605194092, 0.38125407695770264, 1.167052149772644, -0.13590215146541595, 0.21843841671943665, -0.0047076549381017685, 0.33391663432121277, 0.5334435105323792, 0.006046251859515905, 0.2930395007133484, 0.39821937680244446, 0.5242593288421631, 0.07594294846057892, 0.47712910175323486, 0.30566826462745667, 0.45012491941452026, 0.09994758665561676, 0.22352784872055054, 0.2876517176628113, 0.029913926497101784, 0.05574342608451843, 0.060009922832250595, 0.39914751052856445, 0.8568788766860962, 0.5623131394386292, -1.1068665981292725, 0.558133602142334, -0.012733169831335545, -0.006758572068065405, 0.04017515107989311, -0.7492785453796387], "std": [0.07933058589696884, 0.10937075316905975, 0.04087686166167259, 0.11860623955726624, 0.3392550051212311, 0.11224823445081711, 0.13773547112941742, 0.29513612389564514, 0.06939689069986343, 0.0560142807662487, 0.03167209029197693, 0.03415147215127945, 0.1924724578857422, 0.056320708245038986, 0.11923091113567352, 0.1421230137348175, 0.27486827969551086, 0.05481753870844841, 0.11014772951602936, 0.10344997048377991, 0.1870044618844986, 0.036526259034872055, 0.1257575899362564, 0.16110879182815552, 0.06883921474218369, 0.006439812947064638, 0.0041476101614534855, 0.2537980377674103, 0.463047057390213, 0.13109461963176727, 0.077360600233078, 0.03937026485800743, 0.1526113897562027, 0.722383975982666, 0.13601529598236084, 0.24504245817661285, 0.3274758458137512, 0.073698990046978, 0.1770441085100174, 0.08311726897954941, 0.18199332058429718, 0.20778895914554596, 0.07984886318445206, 0.07795814424753189, 0.1066126823425293, 0.3052498698234558, 0.07798053324222565, 0.10581550002098083, 0.059838905930519104, 0.3874938488006592, 0.04804650694131851, 0.12895920872688293, 0.1832580268383026, 0.0002557224943302572, 0.08763820677995682, 0.05830046907067299, 0.2703304886817932, 0.4913043975830078, 9.574377327226102e-05, 2.3288273951038718e-05, 0.0024870282504707575, 0.002348498674109578, 0.0012551231775432825, 0.054145053029060364, 0.04014897719025612], "count": [712]}, "observation.state.joint_torque": {"min": [-34.323001861572266, -21.862499237060547, -17.423999786376953, -15.086000442504883, -0.30000001192092896, -2.5495998859405518, 1.0592000484466553, -0.8634516596794128, -0.36295533180236816, -0.5865494608879089, -0.5169588923454285, -0.0879935771226883, -0.3885830342769623, -0.6178949475288391, -0.14776279032230377, -0.04423718526959419, -0.5142728090286255, -0.7167198061943054, -0.20089100301265717, -0.050658710300922394, -0.2792041003704071, -0.26193371415138245, -0.10127562284469604, -0.020691584795713425, -0.09851544350385666, -0.3550017774105072, -0.3012717664241791, -0.1145576685667038, -0.17409472167491913, 10.347000122070312, -17.2814998626709, 0.9369999766349792, -11.378999710083008, -2.160799980163574, -5.645599842071533, -3.327199935913086, -1.0404719114303589, -0.6176608204841614, -0.3902045488357544, -0.7667394280433655, -0.10957689583301544, -0.37515053153038025, -0.7311117649078369, -0.07471152395009995, -0.020691584795713425, -0.4471103549003601, -0.993045449256897, -0.1062563955783844, -0.02354559674859047, -0.27824461460113525, -0.5325026512145996, -0.16934612393379211, -0.03567514568567276, -0.038702499121427536, -0.31086644530296326, -0.542097270488739, -0.2556794285774231, -0.17480823397636414, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-20.87700080871582, 12.45300006866455, -10.335000038146973, 4.468999862670898, 2.1528000831604004, 2.244800090789795, 3.13919997215271, 0.9882572889328003, 1.886094331741333, 1.4812859296798706, 0.8487570285797119, 0.08965382725000381, 0.9172477722167969, 0.5046781897544861, 0.11123716086149216, 0.026399608701467514, 0.864477276802063, 0.5708812475204468, 0.1593845784664154, 0.032821137458086014, 0.3502044379711151, 0.3905019462108612, 0.15440380573272705, 0.025686107575893402, 0.04925772175192833, 0.3550017774105072, 0.2369876652956009, 0.11953844130039215, 0.0891878679394722, 40.93199920654297, 13.37399959564209, 18.726999282836914, 4.364999771118164, 0.8095999956130981, 2.6559998989105225, 0.6783999800682068, 0.9678810238838196, 2.778837203979492, 1.3657158613204956, 0.7145465016365051, 0.21915379166603088, 1.1283299922943115, 0.5094755291938782, 0.18262816965579987, 0.01783757284283638, 1.3106281757354736, 0.6015841364860535, 0.1494230479001999, 0.019264578819274902, 0.9527480006217957, 0.34252873063087463, 0.2639807164669037, 0.0321076326072216, -0.012314430437982082, 1.4027366638183594, 0.5545703172683716, 0.11787818372249603, 0.12486302107572556, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-26.425392150878906, 1.8944998979568481, -13.17998218536377, -3.468780517578125, 0.3100281059741974, 0.916603684425354, 1.8862413167953491, 0.20635434985160828, 0.8030811548233032, 0.5680055022239685, 0.3287562131881714, -0.010437222197651863, 0.34923282265663147, 0.10252394527196884, 0.026638692244887352, -0.001766721485182643, 0.29130640625953674, 0.061439480632543564, 0.03352688252925873, 0.008259383030235767, 0.04307215288281441, 0.05726194009184837, -0.008037787862122059, 0.003548472886905074, -0.03223954513669014, 0.07979319244623184, -0.08499487489461899, 0.006948848254978657, 0.010146373882889748, 26.295642852783203, 3.018474817276001, 12.629124641418457, -2.2713608741760254, -0.29457512497901917, 0.46059417724609375, -1.3795616626739502, 0.11438672989606857, 0.9320477247238159, 0.4386870265007019, -0.02337726764380932, 0.04701882228255272, 0.48697659373283386, -0.0641951784491539, 0.07684049010276794, 0.004196846857666969, 0.4793212413787842, -0.1501871645450592, 0.05442231893539429, 0.006244136486202478, 0.27680957317352295, -0.029558774083852768, 0.071398064494133, 0.007753313053399324, -0.03466958552598953, 0.11586476117372513, 0.07942666113376617, 0.018185868859291077, 0.006764242425560951, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.946306824684143, 2.0965802669525146, 1.1070044040679932, 1.2426953315734863, 0.368071049451828, 0.5668901801109314, 0.4985751807689667, 0.4702056646347046, 0.8475475907325745, 0.7074657082557678, 0.3252042531967163, 0.045008473098278046, 0.35625410079956055, 0.25067827105522156, 0.04624730348587036, 0.011629859916865826, 0.39957118034362793, 0.18303467333316803, 0.07089877873659134, 0.010973942466080189, 0.14232373237609863, 0.11311952024698257, 0.049379102885723114, 0.01070448849350214, 0.02623751573264599, 0.22319228947162628, 0.061071764677762985, 0.05353092402219772, 0.015110913664102554, 2.9346425533294678, 2.9209508895874023, 2.3477461338043213, 1.641165018081665, 0.4840862452983856, 1.2115790843963623, 0.9394100904464722, 0.45469069480895996, 1.1348298788070679, 0.5120560526847839, 0.32048407196998596, 0.06831051409244537, 0.5336549282073975, 0.22837892174720764, 0.06757903844118118, 0.009954397566616535, 0.5699207186698914, 0.2564575672149658, 0.060674820095300674, 0.007701059803366661, 0.3593248724937439, 0.15444335341453552, 0.11163076758384705, 0.011833399534225464, 0.0029954365454614162, 0.2266966998577118, 0.17231254279613495, 0.06121591106057167, 0.019285522401332855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [712]}, "observation.state.tcp": {"min": [0.3309014141559601, 0.12910392880439758, 0.9111148118972778, -1.2091326713562012, 1.2176584005355835, -1.396498680114746, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3253154456615448, -0.28412485122680664, 0.8724814653396606, -1.0569257736206055, 1.2182012796401978, 0.43521419167518616, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4180592894554138, 0.2657753825187683, 1.0617806911468506, -0.14975160360336304, 2.094733953475952, -0.7799218893051147, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.44086265563964844, -0.09458251297473907, 1.0937432050704956, 1.3243314027786255, 1.9742817878723145, 1.5752265453338623, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3639548122882843, 0.19479404389858246, 0.9729493260383606, -0.40844982862472534, 1.8375036716461182, -1.0467913150787354, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3814699053764343, -0.21052058041095734, 1.0011366605758667, 0.4495266377925873, 1.6313934326171875, 1.114549994468689, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.025018829852342606, 0.04370123893022537, 0.044300053268671036, 0.32493412494659424, 0.2301492989063263, 0.13162176311016083, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.02365924045443535, 0.057694386690855026, 0.05944981798529625, 0.7761467695236206, 0.1986149102449417, 0.352712482213974, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [712]}, "action": {"min": [0.976091206073761, -0.8853945732116699, -0.23124760389328003, 1.0263290405273438, -1.0064831972122192, -0.7699999809265137, 0.06864564120769501, 0.0, -0.2951641380786896, -0.04036472365260124, 0.0, 0.0, 0.0, -0.16267681121826172, 0.0, 0.0, 0.0, -0.16478154063224792, 0.0, 0.0, 0.0, -0.12666091322898865, 0.0, 0.0, 0.0, 0.0, -0.1495351940393448, 0.0, 0.0, 0.8893253803253174, -0.8966118097305298, -0.23374032974243164, 0.9025559425354004, -1.9913947582244873, -0.7690432667732239, -0.03413107246160507, 0.0, -0.288507342338562, 0.0, -0.12001044303178787, 0.0, 0.0, -0.17792759835720062, 0.0, 0.0, 0.0, -0.15887437760829926, 0.0, 0.0, 0.0, -0.024729173630475998, 0.0, 0.0, -9.99999993922529e-09, -0.0027686727698892355, -0.05873509496450424, 0.0, 0.0, 0.5623956918716431, -1.1068999767303467, 0.5441974401473999, -0.01484430767595768, -0.010535439476370811, -0.01916806399822235, -0.7896388173103333], "max": [1.294679880142212, -0.5781190395355225, 3.095952075201016e-17, 1.5700000524520874, 0.07008375227451324, -0.2431359589099884, 0.5199999809265137, 1.4127970933914185, 0.0, 0.3118186295032501, 0.15187782049179077, 0.2147713601589203, 0.686008632183075, 0.027755659073591232, 0.5156579613685608, 0.5663474202156067, 0.8458853363990784, 0.026025420054793358, 0.3957004249095917, 0.3428230285644531, 0.5001137256622314, 0.09052521735429764, 0.3441466689109802, 0.4244334399700165, 0.26180002093315125, 0.061062294989824295, 0.0, 0.8471168279647827, 1.3882691860198975, 1.347602128982544, -0.5512743592262268, -0.0003789227921515703, 1.5696717500686646, 0.2419854700565338, -0.034514568746089935, 0.663254976272583, 1.4519705772399902, 0.06730923056602478, 0.5572133660316467, 0.1588512808084488, 0.5760326981544495, 0.8796720504760742, 0.09668268263339996, 0.4414081573486328, 0.5509774684906006, 1.0262253284454346, 0.148763507604599, 0.6510751247406006, 0.40003401041030884, 1.0611883401870728, 0.1635189801454544, 0.4162329137325287, 0.5052098035812378, 0.018588844686746597, 0.23919913172721863, 0.14283186197280884, 0.805059015750885, 1.3853057622909546, 0.5626999735832214, -1.106863021850586, 0.5600369572639465, 1.8942568376362342e-18, 2.3604450775231574e-18, 0.16559617221355438, -0.5999691486358643], "mean": [1.1061102151870728, -0.7253676652908325, -0.22137735784053802, 1.3426047563552856, -0.7404063940048218, -0.3722339868545532, 0.23895274102687836, 1.1794958114624023, -0.15739120543003082, 0.16688668727874756, 0.09992970526218414, 0.18610243499279022, 0.47000953555107117, -0.049422070384025574, 0.3453773856163025, 0.4378025233745575, 0.517633318901062, -0.04285116493701935, 0.2524268925189972, 0.24242283403873444, 0.25884708762168884, 0.013822952285408974, 0.21148720383644104, 0.2661134600639343, 0.10185225307941437, 0.03001101128757, -0.060753077268600464, 0.4437609016895294, 0.8786094784736633, 1.1564911603927612, -0.7090071439743042, -0.2220328003168106, 1.2802014350891113, -0.6181814670562744, -0.2151072472333908, 0.3813883662223816, 1.1703091859817505, -0.08810721337795258, 0.27702954411506653, -0.006121565122157335, 0.3459024131298065, 0.6132602095603943, 0.004650842398405075, 0.3131711184978485, 0.40378618240356445, 0.6049678921699524, 0.06913238018751144, 0.4921649098396301, 0.31208837032318115, 0.49037274718284607, 0.09806325286626816, 0.2431262731552124, 0.2976417541503906, 0.000558807048946619, 0.06699876487255096, 0.06296741217374802, 0.40618935227394104, 0.882110595703125, 0.5624103546142578, -1.1068687438964844, 0.5581807494163513, -0.012774408794939518, -0.006805561948567629, 0.04019533470273018, -0.7492973804473877], "std": [0.07963612675666809, 0.10949691385030746, 0.041109032928943634, 0.11850335448980331, 0.33981621265411377, 0.11255816370248795, 0.1378345489501953, 0.3181803822517395, 0.10568785667419434, 0.12656410038471222, 0.03571122884750366, 0.04204529896378517, 0.23005785048007965, 0.06304413080215454, 0.13160797953605652, 0.1496109962463379, 0.32005539536476135, 0.05684368312358856, 0.12141267955303192, 0.11153002828359604, 0.19467394053936005, 0.051532402634620667, 0.1360345035791397, 0.172881081700325, 0.07131775468587875, 0.018687289208173752, 0.029715178534388542, 0.2688709795475006, 0.49376216530799866, 0.13093020021915436, 0.07765205949544907, 0.03943932428956032, 0.15266235172748566, 0.7196323871612549, 0.13662153482437134, 0.24493670463562012, 0.3433188498020172, 0.12156717479228973, 0.1533832848072052, 0.08440102636814117, 0.19389070570468903, 0.27475589513778687, 0.08139606565237045, 0.09261241555213928, 0.11539784073829651, 0.3859109878540039, 0.075973279774189, 0.12263249605894089, 0.07071741670370102, 0.43098151683807373, 0.04862812161445618, 0.15249502658843994, 0.19216790795326233, 0.0024754947517067194, 0.07765033841133118, 0.05964179337024689, 0.28159576654434204, 0.5214239954948425, 5.351789150154218e-05, 7.500007541239029e-06, 0.002592906355857849, 0.0024396905209869146, 0.0013511539436876774, 0.05421826243400574, 0.040384065359830856], "count": [712]}, "observation.state.tcp_pose": {"min": [0.3309014141559601, 0.12910392880439758, 0.9111148118972778, -1.2091326713562012, 1.2176584005355835, -1.396498680114746, 0.3253154456615448, -0.28412485122680664, 0.8724814653396606, -1.0569257736206055, 1.2182012796401978, 0.43521419167518616], "max": [0.4180592894554138, 0.2657753825187683, 1.0617806911468506, -0.14975160360336304, 2.094733953475952, -0.7799218893051147, 0.44086265563964844, -0.09458251297473907, 1.0937432050704956, 1.3243314027786255, 1.9742817878723145, 1.5752265453338623], "mean": [0.3639548122882843, 0.19479404389858246, 0.9729493260383606, -0.40844982862472534, 1.8375036716461182, -1.0467913150787354, 0.3814699053764343, -0.21052058041095734, 1.0011366605758667, 0.4495266377925873, 1.6313934326171875, 1.114549994468689], "std": [0.025018829852342606, 0.04370123893022537, 0.044300053268671036, 0.32493412494659424, 0.2301492989063263, 0.13162176311016083, 0.02365924045443535, 0.057694386690855026, 0.05944981798529625, 0.7761467695236206, 0.1986149102449417, 0.352712482213974], "count": [712]}, "action.tcp_pose": {"min": [0.3308817446231842, 0.12916190922260284, 0.9111156463623047, -1.208855390548706, 1.2178406715393066, -1.400146245956421, 0.32481473684310913, -0.28324297070503235, 0.8723448514938354, -1.0570826530456543, 1.2182509899139404, 0.43505555391311646], "max": [0.4180131256580353, 0.2654015123844147, 1.0626659393310547, -0.1501922309398651, 2.094810724258423, -0.7797684073448181, 0.4408060312271118, -0.09450139850378036, 1.0929574966430664, 1.324187994003296, 1.973936676979065, 1.5752973556518555], "mean": [0.3640102446079254, 0.19483409821987152, 0.9729704856872559, -0.40883713960647583, 1.837297797203064, -1.047051191329956, 0.3816889226436615, -0.2107490599155426, 1.0012644529342651, 0.45352551341056824, 1.631706953048706, 1.1160615682601929], "std": [0.02503962442278862, 0.04377742111682892, 0.04438430070877075, 0.3255097568035126, 0.23042450845241547, 0.13154387474060059, 0.02370881661772728, 0.05762728676199913, 0.05939444527029991, 0.7728264331817627, 0.19913573563098907, 0.351652592420578], "count": [712]}, "subtask_index": {"min": [0], "max": [4], "mean": [1.9087078651685394], "std": [1.3159917497628004], "count": [712]}, "observation.tactile": {"min": [-2.566473960876465, -0.18700329959392548, -9.21998216654174e-05, -0.04449302330613136, -0.01604524999856949, -0.028231706470251083, -0.03583745285868645, -4.793269181391224e-05, -0.00010774472320917994, -0.0039892541244626045, -0.00020335469162091613, -0.0005647682119160891, -0.127725288271904, -0.08081972599029541, -7.319731230381876e-05, -0.03239016979932785, -0.0035421987995505333, -0.0036894858349114656, -0.04683801531791687, -3.630741412052885e-05, -8.243732736445963e-05, -0.0005838889046572149, -6.750607280991971e-05, -0.0005307401879690588, -0.0025028318632394075, -3.9061364077497274e-05, -8.773020817898214e-05, -0.001791879185475409, -5.082416828372516e-05, -4.758228897117078e-05, -0.09544339776039124, -3.99672680941876e-05, -8.768921543378383e-05, -0.0360015369951725, -0.000982163124717772, -0.0029159891419112682, -0.009926281869411469, -3.3164615160785615e-05, -7.343578181462362e-05, -0.001781046623364091, -4.4818847527494654e-05, -0.00022429708042182028, -0.9915180206298828, -4.109403380425647e-05, -9.47503576753661e-05, -0.018402311950922012, -0.0046670641750097275, -0.008542212657630444, -0.2100355327129364, -4.4672677177004516e-05, -0.00010214861686108634, -0.008816561661660671, -0.0030291664879769087, -0.000879769679158926, -0.00862633902579546, -0.08348540216684341, -0.5559144616127014, -0.13704533874988556, -0.004059167113155127, -0.0002180034207412973], "max": [0.020770100876688957, 0.5067991614341736, 3.8604323863983154, 1.7189285017593647e-06, 0.0023257602006196976, 0.0004013426951132715, 0.03768208622932434, 0.10515076667070389, 0.28746235370635986, 1.9798660559899872e-06, 0.000169551552971825, 0.0005980232381261885, 1.1353230476379395, 2.3264710903167725, 2.968362331390381, 1.3454425698000705e-06, 0.0039111473597586155, 0.012863912619650364, 0.0002869056770578027, 0.010289193131029606, 0.029266325756907463, 1.5125958725548116e-06, 4.645385342882946e-05, 5.914573193877004e-06, 0.49713030457496643, 0.033948853611946106, 0.09952166676521301, 1.6421893178630853e-06, 0.0004932099836878479, 0.009105218574404716, 2.046396255493164, 0.707499623298645, 3.1023221015930176, 1.679502474871697e-06, 0.012891294434666634, 0.0201822891831398, 0.014175495132803917, 0.028796300292015076, 0.08134307712316513, 1.3630198054670473e-06, 0.00018564639321994036, 0.00021703079983126372, 0.40955662727355957, 1.3506370782852173, 2.1692450046539307, 1.7351592305203667e-06, 0.0015011869836598635, 0.005876714829355478, 0.03364167734980583, 0.40534257888793945, 1.0202386379241943, 1.8982602796313586e-06, 0.000723187520634383, 0.0006138167809695005, 3.3232524394989014, 7.053343772888184, 7.951339244842529, 0.013778915628790855, 0.03343842178583145, 0.05910661816596985], "mean": [-0.8153508901596069, 0.16154035925865173, 1.2012882232666016, -0.0135430209338665, -0.0026222141459584236, -0.00879912544041872, 9.953581320587546e-05, 0.003369224490597844, 0.009620815515518188, -0.0001458206243114546, -8.506711310474202e-06, 3.337645694045932e-06, 0.14344625174999237, 0.5070029497146606, 1.040685772895813, -0.011315708979964256, 0.000957655836828053, 0.00119597720913589, -3.6817171348957345e-05, 0.00028996626497246325, 0.0008493235218338668, -1.620611692487728e-05, -2.0026520815008553e-06, 4.3900681134800834e-07, 0.03877487778663635, 0.004375511780381203, 0.012286187149584293, -0.00021955576085019857, 6.14664240856655e-05, 0.0006855017272755504, 0.12766332924365997, 0.10266315937042236, 0.5783863067626953, -0.0065160347148776054, 0.0025294676888734102, 0.0009909092914313078, -0.0009154637227766216, 0.0029219563584774733, 0.008485776372253895, -0.0001525760453660041, 8.852282917359844e-06, -2.0147201212239452e-05, -0.15066857635974884, 0.1280248463153839, 0.44067442417144775, -0.003691407386213541, -0.0005384537507779896, -0.0011021627578884363, -0.02192157506942749, 0.05215241387486458, 0.13678450882434845, -0.001245659776031971, -0.0003358736867085099, -5.1510040066204965e-05, 0.16705086827278137, 0.22008754312992096, 0.19358491897583008, -0.003276362782344222, 0.0007301819860003889, 0.002351173898205161], "std": [0.9443883299827576, 0.18999363481998444, 1.353683590888977, 0.015325915068387985, 0.003286512102931738, 0.010265836492180824, 0.004004719201475382, 0.013172929175198078, 0.03676214814186096, 0.0005168865900486708, 2.5578383429092355e-05, 6.340421532513574e-05, 0.21661001443862915, 0.5848349332809448, 1.1672589778900146, 0.01243241410702467, 0.0013934208545833826, 0.002262516412883997, 0.0018978980369865894, 0.0010697855614125729, 0.0030497093684971333, 5.9390327805886045e-05, 6.84738733980339e-06, 2.408071122772526e-05, 0.09255405515432358, 0.007907508872449398, 0.022216549143195152, 0.0003966382937505841, 0.00011896098294528201, 0.0016553077148273587, 0.3685847222805023, 0.14537636935710907, 0.8943575024604797, 0.010246049612760544, 0.003864552127197385, 0.0038741326425224543, 0.0018853791989386082, 0.0038160388357937336, 0.011050556786358356, 0.0002189756341977045, 2.0732564735226333e-05, 3.768980241147801e-05, 0.28171128034591675, 0.2018253207206726, 0.6901633739471436, 0.005833826027810574, 0.001254651928320527, 0.0023242956958711147, 0.054700639098882675, 0.12315203994512558, 0.3184945583343506, 0.0027466879691928625, 0.0008681598701514304, 0.00018164394714403898, 0.6003979444503784, 0.9771491885185242, 0.9815353751182556, 0.016664613038301468, 0.004050419200211763, 0.00880251545459032], "count": [712]}, "timestamp": {"min": [0.0], "max": [23.7], "mean": [11.850000000000001], "std": [6.851216437003481], "count": [712]}, "frame_index": {"min": [0], "max": [711], "mean": [355.5], "std": [205.5364931101044], "count": [712]}, "episode_index": {"min": [10], "max": [10], "mean": [10.0], "std": [0.0], "count": [712]}, "index": {"min": [7060], "max": [7771], "mean": [7415.5], "std": [205.5364931101044], "count": [712]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [712]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5364470481872559]], [[0.5360593199729919]], [[0.5374788641929626]]], "std": [[[0.2814914584159851]], [[0.2814728319644928]], [[0.28208693861961365]]], "count": [712]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.21692019701004028]], [[0.2163938730955124]], [[0.21213124692440033]]], "std": [[[0.14668136835098267]], [[0.14711464941501617]], [[0.14774969220161438]]], "count": [712]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2982235252857208]], [[0.29945456981658936]], [[0.29970231652259827]]], "std": [[[0.16927559673786163]], [[0.17116305232048035]], [[0.17119470238685608]]], "count": [712]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5353986620903015]], [[0.5352801084518433]], [[0.5364230275154114]]], "std": [[[0.2853865623474121]], [[0.28550612926483154]], [[0.2860141694545746]]], "count": [712]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.43921568989753723]], [[0.43921568989753723]], [[0.43921568989753723]]], "mean": [[[0.0005661097820848227]], [[0.0005661097820848227]], [[0.0005661097820848227]]], "std": [[[0.010151607915759087]], [[0.010151607915759087]], [[0.010151607915759087]]], "count": [712]}, "observation.images.tactile_raw": {"min": [[[0.08235294371843338]], [[0.08235294371843338]], [[0.08235294371843338]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5084341764450073]], [[0.5084341764450073]], [[0.5084341764450073]]], "std": [[[0.23619379103183746]], [[0.23619379103183746]], [[0.23619379103183746]]], "count": [712]}}}
+{"episode_index": 11, "stats": {"observation.state": {"min": [0.9687880873680115, -0.8845646381378174, -0.23117126524448395, 1.2044475078582764, -0.9871365427970886, -0.7700449228286743, 0.01652732491493225, 0.009240003302693367, -0.28798794746398926, 0.0031047086231410503, -0.017998099327087402, 0.01075814664363861, 0.012410445138812065, -0.12454478442668915, 0.011047824285924435, 0.00832969881594181, 0.013621070422232151, -0.14400210976600647, 0.017084257677197456, 0.010890466161072254, -0.0033048726618289948, -0.04050382226705551, 0.014251300133764744, 0.010538388974964619, 0.03277299553155899, -0.0015724638942629099, -0.035602450370788574, 0.010783320292830467, -0.012435352429747581, 0.9230517745018005, -0.9663777351379395, -0.23339314758777618, 1.0956995487213135, -2.192859411239624, -0.7672618627548218, 0.06210656836628914, 0.012347647920250893, -0.2732645869255066, 0.020881585776805878, -0.13704580068588257, 0.014405534602701664, 0.01502672117203474, -0.1425812691450119, 0.009011570364236832, 0.010157488286495209, -0.013530794531106949, -0.10533448308706284, 0.015053675509989262, 0.0072774565778672695, -0.004559899680316448, -0.025426816195249557, 0.014024024829268456, 0.0064132255502045155, 0.02958228997886181, -0.006889894604682922, -0.02149590104818344, 0.010464568622410297, 0.0008278705645352602, 0.5621080994606018, -1.1069588661193848, 0.5442755818367004, 9.58738019107841e-05, -0.015052186325192451, -0.005368932615965605, -0.7662234306335449], "max": [1.2923824787139893, -0.6282487511634827, 9.467537893215194e-06, 1.6575517654418945, 0.1359768509864807, -0.36234617233276367, 0.5200169682502747, 1.3866400718688965, -0.0035568077582865953, 0.27788877487182617, 0.14475756883621216, 0.18302004039287567, 0.6738094091415405, 0.08311589807271957, 0.4593776762485504, 0.5198836326599121, 0.832754373550415, 0.06987040489912033, 0.37246865034103394, 0.3284699618816376, 0.6986494064331055, 0.06581877917051315, 0.3351278603076935, 0.4601745307445526, 0.15820284187793732, 0.10508842766284943, 0.00021366862347349524, 0.8336188197135925, 1.2962380647659302, 1.3242285251617432, -0.6213598251342773, -0.002049901755526662, 1.600258231163025, 0.22818875312805176, -0.16394588351249695, 0.6515562534332275, 1.575315237045288, 0.01053798571228981, 0.24402299523353577, 0.13795514404773712, 0.5559223294258118, 0.7250756621360779, 0.13101716339588165, 0.4093492031097412, 0.4718666970729828, 0.7274382710456848, 0.16031232476234436, 0.7102071642875671, 0.37081727385520935, 0.8295941948890686, 0.16409850120544434, 0.33760201930999756, 0.44442814588546753, 0.030640864744782448, 0.2220667451620102, 0.12729991972446442, 0.7291404604911804, 1.2933489084243774, 0.5626833438873291, -1.106767177581787, 0.5533835887908936, 0.005848301574587822, -9.58738019107841e-05, 0.1882961392402649, -0.599307119846344], "mean": [1.0963319540023804, -0.7677755355834961, -0.2205251306295395, 1.4686126708984375, -0.6886616945266724, -0.47783568501472473, 0.256924569606781, 1.1859627962112427, -0.2324378341436386, 0.09465183317661285, 0.07438869029283524, 0.17039673030376434, 0.4873058497905731, -0.021829428151249886, 0.3378758728504181, 0.4226720631122589, 0.5381041169166565, -0.021531574428081512, 0.28566309809684753, 0.2590930461883545, 0.34180161356925964, 0.01776917092502117, 0.22401337325572968, 0.3163737952709198, 0.10623762756586075, 0.05338779836893082, -0.021995238959789276, 0.5548766851425171, 0.9153441190719604, 1.1474117040634155, -0.7627315521240234, -0.22222617268562317, 1.3775995969772339, -0.7002269625663757, -0.33074498176574707, 0.42891520261764526, 1.2669209241867065, -0.13771584630012512, 0.14947593212127686, -9.70519904512912e-05, 0.32587552070617676, 0.5106825232505798, 0.01325182244181633, 0.29128599166870117, 0.3625820279121399, 0.43033576011657715, 0.05154695361852646, 0.555253267288208, 0.2945288121700287, 0.3747069537639618, 0.07853815704584122, 0.19579479098320007, 0.2503461241722107, 0.029890770092606544, 0.058276060968637466, 0.052194952964782715, 0.3664824366569519, 0.8499720096588135, 0.5623082518577576, -1.1068681478500366, 0.5525272488594055, 0.004920525476336479, -0.012485453858971596, 0.06501603871583939, -0.7072802186012268], "std": [0.08222248405218124, 0.06268604844808578, 0.0430137924849987, 0.13853099942207336, 0.3141263723373413, 0.10217288136482239, 0.16730289161205292, 0.2993161380290985, 0.05468403548002243, 0.05650928616523743, 0.038228701800107956, 0.032649531960487366, 0.1970951408147812, 0.07413076609373093, 0.09417107701301575, 0.1059500128030777, 0.2758217453956604, 0.06635866314172745, 0.08659761399030685, 0.07181056588888168, 0.2671702802181244, 0.04021367058157921, 0.11603563278913498, 0.16614602506160736, 0.0301703792065382, 0.03502950072288513, 0.013012618757784367, 0.27543002367019653, 0.41526907682418823, 0.13812193274497986, 0.07065807282924652, 0.04098104313015938, 0.16627760231494904, 0.7561360597610474, 0.15037742257118225, 0.20167571306228638, 0.33575931191444397, 0.06904232501983643, 0.05272627994418144, 0.0938604548573494, 0.16852909326553345, 0.1858597844839096, 0.0726945623755455, 0.07215337455272675, 0.08604538440704346, 0.2462138682603836, 0.0633961409330368, 0.12237895280122757, 0.0628691092133522, 0.34421470761299133, 0.05026419833302498, 0.12605038285255432, 0.1793821007013321, 0.00020842354570049793, 0.07394829392433167, 0.047647275030612946, 0.27925777435302734, 0.49917444586753845, 7.957239722600207e-05, 1.5126287507882807e-05, 0.0014454472111538053, 0.0008823376265354455, 0.002135705668479204, 0.06091104447841644, 0.04850884899497032], "count": [635]}, "observation.state.joint_torque": {"min": [-32.587501525878906, -23.639999389648438, -19.08099937438965, -16.35700035095215, -0.2863999903202057, -3.2016000747680664, 0.843999981880188, -0.9538720846176147, -0.3056465983390808, -0.5554822087287903, -0.7307015061378479, -0.06807050108909607, -0.44135355949401855, -0.9018963575363159, -0.1145576685667038, -0.027826614677906036, -0.3981776535511017, -0.9191666841506958, -0.12783971428871155, -0.021405089646577835, -0.32813677191734314, -0.2935960590839386, -0.09629485011100769, -0.01783757284283638, -0.08444181084632874, -0.3972181975841522, -0.3127853274345398, -0.14444229006767273, -0.1662461906671524, 20.172000885009766, -12.214500427246094, 9.065999984741211, -7.796999931335449, -1.7799999713897705, -1.9071999788284302, -2.9911999702453613, -1.1690982580184937, -0.7055342197418213, -0.34298232197761536, -0.6499266624450684, -0.12949997186660767, -0.39721816778182983, -0.5641649961471558, -0.07139100879430771, -0.01712406985461712, -0.40873175859451294, -0.7282333374023438, -0.11953844130039215, -0.022832093760371208, -0.25233909487724304, -0.7234359979629517, -0.12285894900560379, -0.019978083670139313, -0.03606368973851204, -0.40585336089134216, -0.513313353061676, -0.2125127911567688, -0.20762935280799866, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-20.431499481201172, 12.918000221252441, -9.722999572753906, 4.821000099182129, 2.308000087738037, 2.410399913787842, 3.9616000652313232, 1.0328307151794434, 1.9994380474090576, 0.8972218632698059, 0.9444440603256226, 0.11787818372249603, 0.9546669125556946, 0.5468946695327759, 0.28058329224586487, 0.051372215151786804, 0.8827070593833923, 0.45862385630607605, 0.14610254764556885, 0.04281017929315567, 0.32525837421417236, 0.26097428798675537, 0.12617947161197662, 0.019978083670139313, 0.04661891609430313, 0.3166232109069824, 0.13816285133361816, 0.1145576685667038, 0.19264578819274902, 37.16999816894531, 11.272500038146973, 16.67300033569336, 2.9110000133514404, 1.0880000591278076, 3.036799907684326, 1.2760000228881836, 1.4925743341445923, 2.2745201587677, 1.1184207201004028, 0.8015347719192505, 0.28556403517723083, 1.146559715270996, 0.5526513457298279, 0.16104483604431152, 0.045664187520742416, 1.2156412601470947, 0.5862326622009277, 0.22247432172298431, 0.0321076326072216, 1.0985865592956543, 0.6533951759338379, 0.24405762553215027, 0.052085720002651215, 0.010555226355791092, 0.2792041003704071, 0.6994494199752808, 0.1062563955783844, 0.16053816676139832, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-25.263870239257812, 2.4426660537719727, -13.441446304321289, -4.137948036193848, 0.46537038683891296, 0.8738692402839661, 2.0663957595825195, 0.2595948278903961, 0.8092494606971741, 0.3661375045776367, 0.3490843176841736, 0.06000719964504242, 0.41039371490478516, -0.061263665556907654, 0.10742269456386566, 0.024677135050296783, 0.33124497532844543, -0.046469803899526596, 0.057253871113061905, 0.017536485567688942, 0.06191639229655266, 0.02327791601419449, 0.03264817222952843, 0.00562711525708437, -0.01883041299879551, 0.038911957293748856, -0.06723352521657944, -0.006084118504077196, 0.011395824141800404, 25.287689208984375, 2.775895833969116, 13.164057731628418, -2.8887596130371094, -0.16740421950817108, 0.6995102763175964, -1.492053747177124, 0.14516621828079224, 0.6733646392822266, 0.3391426205635071, 0.004833748564124107, 0.02988463267683983, 0.2619881331920624, -0.04188854619860649, 0.04957234486937523, -0.0005786664551123977, 0.29658472537994385, -0.0888085663318634, 0.0856875628232956, 0.016200480982661247, 0.15375590324401855, -0.10214743763208389, 0.005145467817783356, 0.00544957909733057, -0.030750034376978874, -0.07261867076158524, -0.012445852160453796, -0.004107487387955189, 0.007912557572126389, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.7561789751052856, 2.170332670211792, 1.3108882904052734, 1.381416916847229, 0.28371289372444153, 0.5944124460220337, 0.5098387002944946, 0.4712063670158386, 0.8789132833480835, 0.4236244261264801, 0.4354681074619293, 0.048572175204753876, 0.4243929982185364, 0.21784108877182007, 0.10756739974021912, 0.01902596466243267, 0.3821723461151123, 0.19830389320850372, 0.07168249785900116, 0.01582547090947628, 0.16103963553905487, 0.12371642142534256, 0.057566795498132706, 0.009775424376130104, 0.029253004118800163, 0.2088281214237213, 0.05243207886815071, 0.04797907918691635, 0.01591787487268448, 1.8831781148910522, 2.188438653945923, 1.7985683679580688, 1.0023003816604614, 0.46900680661201477, 1.0974787473678589, 1.0382121801376343, 0.6720344424247742, 0.8717387318611145, 0.36589959263801575, 0.2901434004306793, 0.08595851808786392, 0.38271424174308777, 0.24031488597393036, 0.051043421030044556, 0.010633261874318123, 0.44431525468826294, 0.25805315375328064, 0.08474447578191757, 0.010600208304822445, 0.3688090145587921, 0.1995856761932373, 0.09630174934864044, 0.02056172862648964, 0.011682386510074139, 0.15834243595600128, 0.21540109813213348, 0.06023211404681206, 0.017551012337207794, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [635]}, "observation.state.tcp": {"min": [0.30716031789779663, 0.12393558025360107, 0.9181724786758423, -1.2183318138122559, 1.2179361581802368, -1.3351961374282837, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3266398310661316, -0.2875129282474518, 0.890375554561615, -1.1075596809387207, 1.046315312385559, 0.6472731828689575, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4155971109867096, 0.23616808652877808, 1.0704102516174316, -0.18693193793296814, 2.0121445655822754, -0.8819783329963684, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.43185216188430786, -0.1213129460811615, 1.1018791198730469, 1.3406462669372559, 1.8685812950134277, 1.6043639183044434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.34134921431541443, 0.1812494546175003, 0.9888195395469666, -0.45611220598220825, 1.769854187965393, -1.1038312911987305, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.35697028040885925, -0.20885559916496277, 1.0075641870498657, 0.39643725752830505, 1.5211966037750244, 1.1855645179748535, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.025041894987225533, 0.03886641934514046, 0.04029146209359169, 0.2975507974624634, 0.20442941784858704, 0.1105196624994278, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.021539557725191116, 0.045387767255306244, 0.06916352361440659, 0.7857603430747986, 0.2391919493675232, 0.284589558839798, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [635]}, "action": {"min": [0.9688047766685486, -0.8846275806427002, -0.2311517298221588, 1.204270839691162, -0.9871166348457336, -0.7699999809265137, 0.016394419595599174, 0.0, -0.2937914729118347, -0.011923673562705517, -0.020240170881152153, 0.0, 0.0, -0.15719179809093475, 0.0, 0.0, 0.0, -0.14980098605155945, 0.0, 0.0, 0.0, -0.1254253089427948, 0.0, 0.0, 0.0, 0.0, -0.11877965927124023, 0.0, 0.0, 0.9230729937553406, -0.9670790433883667, -0.23335804045200348, 1.095645785331726, -2.1928255558013916, -0.7663079500198364, 0.062126222997903824, 0.0, -0.278790682554245, 0.0, -0.13870306313037872, 0.0, 0.0, -0.16019749641418457, 0.0, 0.0, 0.0, -0.12306219339370728, 0.0, 0.0, 0.0, -0.08872254192829132, 0.0, 0.0, -9.99999993922529e-09, -0.0019083240767940879, -0.0855172798037529, 0.0, 0.0, 0.5622998476028442, -1.1068999767303467, 0.5442000031471252, -3.240433003779147e-19, -0.01579512655735016, -0.005508343689143658, -0.7666435837745667], "max": [1.2923789024353027, -0.6281651258468628, 1.7897711876893535e-17, 1.6575621366500854, 0.135949045419693, -0.3623071014881134, 0.5199999809265137, 1.4365172386169434, 0.0, 0.2946440279483795, 0.14334166049957275, 0.21155111491680145, 0.7868005037307739, 0.08031650632619858, 0.49108365178108215, 0.5568976998329163, 0.94317227602005, 0.06331416964530945, 0.4239460229873657, 0.3588854670524597, 0.7138460278511047, 0.07291531562805176, 0.39129993319511414, 0.4759422242641449, 0.15367451310157776, 0.13347043097019196, 0.0, 0.8558861017227173, 1.3899307250976562, 1.3242089748382568, -0.6211267113685608, -0.0015576190780848265, 1.6003254652023315, 0.228249192237854, -0.16384832561016083, 0.6514624953269958, 1.6301060914993286, 0.03613506630063057, 0.2620714604854584, 0.13972210884094238, 0.5849695205688477, 0.8128295540809631, 0.1353173702955246, 0.45003995299339294, 0.4874315559864044, 0.8511701822280884, 0.15496695041656494, 0.7507107257843018, 0.3893730044364929, 0.9653271436691284, 0.15259651839733124, 0.39911410212516785, 0.4757339656352997, 0.03586889058351517, 0.23592814803123474, 0.1306726038455963, 0.7489759922027588, 1.3611273765563965, 0.5626999735832214, -1.106863021850586, 0.5537518858909607, 0.006016641389578581, 6.450526056665615e-19, 0.18825393915176392, -0.5995359420776367], "mean": [1.0967566967010498, -0.7679973840713501, -0.22054795920848846, 1.4686379432678223, -0.6885336637496948, -0.4774046540260315, 0.2570357620716095, 1.194118618965149, -0.19063112139701843, 0.14203721284866333, 0.08800971508026123, 0.18550297617912292, 0.5478084087371826, -0.024407217279076576, 0.36437973380088806, 0.4471310079097748, 0.5843222141265869, -0.024008722975850105, 0.29912540316581726, 0.27623170614242554, 0.34518030285835266, 0.012814057990908623, 0.23273763060569763, 0.3236950635910034, 0.09660778194665909, 0.05253726616501808, -0.053861103951931, 0.5564484596252441, 0.9214014410972595, 1.14802885055542, -0.7632336616516113, -0.22225399315357208, 1.3777716159820557, -0.694962739944458, -0.3305625021457672, 0.42871856689453125, 1.2696547508239746, -0.10231029242277145, 0.19186125695705414, -0.0004257981781847775, 0.3330239951610565, 0.5480905771255493, 0.011931836605072021, 0.3028728663921356, 0.36073392629623413, 0.47603923082351685, 0.04802720993757248, 0.5754862427711487, 0.31031399965286255, 0.402027428150177, 0.07266481965780258, 0.1977846771478653, 0.25635454058647156, 0.0036037233658134937, 0.05203394964337349, 0.05029663071036339, 0.366414338350296, 0.8667178750038147, 0.5623142719268799, -1.1068682670593262, 0.5525628328323364, 0.004964038729667664, -0.012523528188467026, 0.0650528222322464, -0.7073232531547546], "std": [0.08273839950561523, 0.06283573061227798, 0.04316994920372963, 0.13860291242599487, 0.31339994072914124, 0.10229407250881195, 0.16744409501552582, 0.32830166816711426, 0.0766494870185852, 0.09217286854982376, 0.0420539565384388, 0.044671736657619476, 0.24828575551509857, 0.07452328503131866, 0.1188313364982605, 0.1292678266763687, 0.3241839110851288, 0.06639767438173294, 0.10496503114700317, 0.08819752931594849, 0.2750888168811798, 0.053433194756507874, 0.12748491764068604, 0.17421004176139832, 0.03625626489520073, 0.0449797660112381, 0.0397927351295948, 0.2910704016685486, 0.44097617268562317, 0.13799215853214264, 0.07095414400100708, 0.041012104600667953, 0.16641511023044586, 0.7517541646957397, 0.1509069800376892, 0.20172587037086487, 0.36180639266967773, 0.09783558547496796, 0.05486615374684334, 0.09638430178165436, 0.1867240071296692, 0.2280350923538208, 0.07696390897035599, 0.08644343167543411, 0.09679903835058212, 0.29800334572792053, 0.0634889081120491, 0.14483295381069183, 0.0742250606417656, 0.3816341757774353, 0.051363442093133926, 0.14218299090862274, 0.19011832773685455, 0.009539321064949036, 0.07349536567926407, 0.056160394102334976, 0.28447210788726807, 0.5242440700531006, 7.26175494492054e-05, 7.506079327868065e-06, 0.0015547756338492036, 0.0009507598588243127, 0.002339014085009694, 0.060960426926612854, 0.04858439043164253], "count": [635]}, "observation.state.tcp_pose": {"min": [0.30716031789779663, 0.12393558025360107, 0.9181724786758423, -1.2183318138122559, 1.2179361581802368, -1.3351961374282837, 0.3266398310661316, -0.2875129282474518, 0.890375554561615, -1.1075596809387207, 1.046315312385559, 0.6472731828689575], "max": [0.4155971109867096, 0.23616808652877808, 1.0704102516174316, -0.18693193793296814, 2.0121445655822754, -0.8819783329963684, 0.43185216188430786, -0.1213129460811615, 1.1018791198730469, 1.3406462669372559, 1.8685812950134277, 1.6043639183044434], "mean": [0.34134921431541443, 0.1812494546175003, 0.9888195395469666, -0.45611220598220825, 1.769854187965393, -1.1038312911987305, 0.35697028040885925, -0.20885559916496277, 1.0075641870498657, 0.39643725752830505, 1.5211966037750244, 1.1855645179748535], "std": [0.025041894987225533, 0.03886641934514046, 0.04029146209359169, 0.2975507974624634, 0.20442941784858704, 0.1105196624994278, 0.021539557725191116, 0.045387767255306244, 0.06916352361440659, 0.7857603430747986, 0.2391919493675232, 0.284589558839798], "count": [635]}, "action.tcp_pose": {"min": [0.307069331407547, 0.12377618253231049, 0.9181036353111267, -1.208855390548706, 1.2178406715393066, -1.3363484144210815, 0.32567909359931946, -0.28942835330963135, 0.8900198936462402, -1.107795238494873, 1.0459131002426147, 0.6480014324188232], "max": [0.4156740605831146, 0.23607932031154633, 1.0706958770751953, -0.18607981503009796, 2.0123541355133057, -0.8814229965209961, 0.4317578673362732, -0.12140621244907379, 1.103332757949829, 1.342484712600708, 1.8687357902526855, 1.604636549949646], "mean": [0.3414604365825653, 0.18131214380264282, 0.9890088438987732, -0.4559316039085388, 1.7697882652282715, -1.1042442321777344, 0.3572408854961395, -0.2092551589012146, 1.007812261581421, 0.40179646015167236, 1.5221301317214966, 1.1865986585617065], "std": [0.025144966319203377, 0.03887344151735306, 0.04056394472718239, 0.2963816225528717, 0.2043231725692749, 0.11124332994222641, 0.021669460460543633, 0.045448869466781616, 0.0691317468881607, 0.7810538411140442, 0.23787307739257812, 0.28297677636146545], "count": [635]}, "subtask_index": {"min": [0], "max": [4], "mean": [1.874015748031496], "std": [1.3769310047631231], "count": [635]}, "observation.tactile": {"min": [-4.2890496253967285, -0.08382649719715118, -0.00010758476128103212, -0.08336582779884338, -0.01428826805204153, -0.0484076626598835, -0.00843134243041277, -0.4317057132720947, -0.00010036559251602739, -0.045639365911483765, -0.010825705714523792, -0.00025371796800754964, -0.2863960862159729, -0.21741537749767303, -7.52860214561224e-05, -0.055706970393657684, -0.0032626467291265726, -0.006889906246215105, -0.011767048388719559, -3.846191248157993e-05, -8.831423474475741e-05, -0.001209694193676114, -8.007725409697741e-05, -0.0002367113484069705, -0.013810746371746063, -0.036666691303253174, -0.00010996552737196907, -0.006717226468026638, -0.00015372039342764765, -0.00023331008560489863, -0.08471792191267014, -3.764994835364632e-05, -8.239848830271512e-05, -0.07814931869506836, -2.125609535141848e-05, -0.006122691556811333, -0.008902696892619133, -3.283750993432477e-05, -7.254820229718462e-05, -0.0007329695508815348, -3.671510785352439e-05, -0.00019437793525867164, -1.0839661359786987, -3.969918179791421e-05, -9.119704918703064e-05, -0.03998837247490883, -0.007413157261908054, -0.010028697550296783, -1.5855332612991333, -4.7962832468329e-05, -0.00010832257248694077, -0.032986078411340714, -0.002289141295477748, -0.018334031105041504, -0.005807288456708193, -5.7120592828141525e-05, -0.00013021458289586008, -0.0005753759178332984, -3.771367119043134e-05, -0.0001059724745573476], "max": [0.00037187954876571894, 1.9377589225769043, 6.997188568115234, 2.0085824417037657e-06, 6.769342144252732e-05, 7.776146958349273e-06, 2.4826321601867676, 1.1182187795639038, 3.063570022583008, 1.8396890482108574e-06, 0.002493977779522538, 0.040900785475969315, 1.3360782861709595, 1.9573605060577393, 3.430267810821533, 1.362915327263181e-06, 0.007339810952544212, 0.021782204508781433, 0.0006932116230018437, 0.018403833732008934, 0.05488251894712448, 1.5998564322217135e-06, 0.0001365381758660078, 6.299023880274035e-06, 0.6524039506912231, 0.14489468932151794, 0.3442533314228058, 2.0410573142726207e-06, 0.0029122030828148127, 0.013231025077402592, 2.02471661567688, 3.473342180252075, 7.195530891418457, 1.586926828167634e-06, 0.03153940290212631, 0.020110702142119408, 0.005048301536589861, 0.015317381359636784, 0.04448472335934639, 1.3307193285072572e-06, 0.00020624954777304083, 5.032798435422592e-05, 0.4736284911632538, 2.3350298404693604, 4.663386821746826, 1.6610597413091455e-06, 0.004639858845621347, 0.008826835080981255, 0.02601255290210247, 1.3792582750320435, 3.2231476306915283, 1.9745239114854485e-06, 0.004118994809687138, 0.0004951315349899232, 0.0016584430122748017, 0.010767163708806038, 0.03189656510949135, 2.3732952740829205e-06, 8.259060996351764e-05, 9.016163858177606e-06], "mean": [-1.283617377281189, 0.6500910520553589, 2.754582405090332, -0.03244875371456146, -0.005927785765379667, -0.01369254756718874, 0.36457690596580505, 0.34927457571029663, 1.047417163848877, -0.014467268250882626, -0.0005500728148035705, 0.005058173090219498, 0.21561837196350098, 0.4794637858867645, 1.16831636428833, -0.01855267584323883, 0.0016505958046764135, 0.002766229445114732, -0.000704667647369206, 0.0013701608404517174, 0.003980875946581364, -8.693280688021332e-05, -3.701334662764566e-06, -1.500493090134114e-05, 0.10226566344499588, 0.011225891299545765, 0.04038571938872337, -0.0008077253587543964, 0.0003896615526173264, 0.0019641297403723, 0.12810567021369934, 0.3544577658176422, 0.9244723320007324, -0.009685355238616467, 0.0040435222908854485, -0.00013935916649643332, -0.0001699361455393955, 0.0015856052050366998, 0.004603832494467497, -7.525464025093243e-05, 1.2589930520334747e-05, -6.364561613736441e-06, -0.16854098439216614, 0.5407899618148804, 1.207016110420227, -0.010814928449690342, -0.000802556169219315, -0.001029443577863276, -0.13288015127182007, 0.12824717164039612, 0.3344990015029907, -0.0034766707103699446, 0.00011270087270531803, -0.0013835858553647995, 0.00015214394079521298, 0.0006494426052086055, 0.0019136198097839952, -3.8493126339744776e-05, 1.2078180589014664e-06, 2.173519760617637e-06], "std": [1.3134026527404785, 0.6693209409713745, 2.921682119369507, 0.034896813333034515, 0.0059712547808885574, 0.01446878258138895, 0.4330786168575287, 0.3692854940891266, 1.0373753309249878, 0.014597921632230282, 0.0014037510845810175, 0.006347821094095707, 0.30281496047973633, 0.5749501585960388, 1.31078040599823, 0.020570315420627594, 0.002313949866220355, 0.00451301783323288, 0.0019376360578462481, 0.0027848086319863796, 0.00813108216971159, 0.00017869089788291603, 1.4619363355450332e-05, 3.922909309039824e-05, 0.1561432033777237, 0.01716717705130577, 0.05679666996002197, 0.0011370056308805943, 0.0005868267617188394, 0.003029736690223217, 0.3502708971500397, 0.6550845503807068, 1.6111762523651123, 0.0169655904173851, 0.006993559654802084, 0.0032409150153398514, 0.0011167386546730995, 0.002460337243974209, 0.007180283311754465, 0.0001235321833519265, 3.228782952646725e-05, 2.098227560054511e-05, 0.310587078332901, 0.6590354442596436, 1.3974041938781738, 0.012578272260725498, 0.0012718524085357785, 0.0030164537020027637, 0.29781657457351685, 0.3000778555870056, 0.729539155960083, 0.007235986180603504, 0.0005779620842076838, 0.003129024989902973, 0.0006063940236344934, 0.0017045123968273401, 0.004913272336125374, 9.90498301689513e-05, 1.0833583473868202e-05, 1.3863460480934009e-05], "count": [635]}, "timestamp": {"min": [0.0], "max": [21.133333333333333], "mean": [10.566666666666666], "std": [6.1102827721436554], "count": [635]}, "frame_index": {"min": [0], "max": [634], "mean": [317.0], "std": [183.30848316430968], "count": [635]}, "episode_index": {"min": [11], "max": [11], "mean": [11.0], "std": [0.0], "count": [635]}, "index": {"min": [7772], "max": [8406], "mean": [8089.0], "std": [183.30848316430968], "count": [635]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [635]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5320817828178406]], [[0.5316095948219299]], [[0.5331538915634155]]], "std": [[[0.27861014008522034]], [[0.2786858081817627]], [[0.27922844886779785]]], "count": [635]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.22640414535999298]], [[0.22614602744579315]], [[0.22223080694675446]]], "std": [[[0.14818145334720612]], [[0.14858515560626984]], [[0.14971062541007996]]], "count": [635]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.3001284599304199]], [[0.3009384572505951]], [[0.3015560507774353]]], "std": [[[0.17122170329093933]], [[0.17277303338050842]], [[0.17277507483959198]]], "count": [635]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5319724678993225]], [[0.531749427318573]], [[0.5331525206565857]]], "std": [[[0.2811022996902466]], [[0.28123536705970764]], [[0.28180229663848877]]], "count": [635]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.49803921580314636]], [[0.49803921580314636]], [[0.49803921580314636]]], "mean": [[[0.0015168559039011598]], [[0.0015168559039011598]], [[0.0015168559039011598]]], "std": [[[0.01949843391776085]], [[0.01949843391776085]], [[0.01949843391776085]]], "count": [635]}, "observation.images.tactile_raw": {"min": [[[0.07450980693101883]], [[0.07450980693101883]], [[0.07450980693101883]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5078823566436768]], [[0.5078823566436768]], [[0.5078823566436768]]], "std": [[[0.23677825927734375]], [[0.23677825927734375]], [[0.23677825927734375]]], "count": [635]}}}
+{"episode_index": 12, "stats": {"observation.state": {"min": [0.9543196558952332, -0.8765896558761597, -0.231090247631073, 1.2391005754470825, -1.011115312576294, -0.7700382471084595, 0.013162634335458279, 0.01174057275056839, -0.2881036400794983, -0.023245155811309814, -0.057480279356241226, 0.013486862182617188, 0.027560068294405937, -0.12292204052209854, 0.026153620332479477, 0.012992734089493752, 0.021023917943239212, -0.15146875381469727, 0.009955771267414093, 0.012811818160116673, -0.003899026894941926, -0.03968202322721481, 0.014328950084745884, 0.01062175165861845, 0.0322442464530468, 0.00031964341178536415, -0.035478562116622925, 0.022790947929024696, 0.004625344183295965, 0.9170246124267578, -0.9156533479690552, -0.23366183042526245, 0.9344428181648254, -2.1684954166412354, -0.7668660879135132, -0.003366608638316393, 0.012297781184315681, -0.29453226923942566, 0.020674755796790123, -0.14157672226428986, 0.014894478023052216, 0.015143245458602905, -0.14054295420646667, 0.008880381472408772, 0.009991204366087914, -0.0016423779306933284, -0.0854225754737854, 0.0183113981038332, 0.010100286453962326, -0.02146744541823864, -0.025021802634000778, 0.010304306633770466, 0.009798315353691578, 0.029176626354455948, -0.04544960707426071, -0.019665857776999474, 0.010778356343507767, 0.004853707272559404, 0.5621080994606018, -1.1069588661193848, 0.5442755818367004, 9.58738019107841e-05, -0.015148060396313667, -0.005368932615965605, -0.776386022567749], "max": [1.2518271207809448, -0.6419839859008789, 4.554005499812774e-06, 1.5799189805984497, 0.09465117007493973, -0.4365678131580353, 0.5200271606445312, 1.3809928894042969, -0.0033159651793539524, 0.2656921148300171, 0.13932736217975616, 0.2063782811164856, 0.7131300568580627, 0.08474232256412506, 0.46288183331489563, 0.5536121726036072, 0.8597636818885803, 0.07185671478509903, 0.34926003217697144, 0.3214971423149109, 0.7774013876914978, 0.10961398482322693, 0.3582439422607422, 0.48646417260169983, 0.12603138387203217, 0.17570261657238007, 0.030690521001815796, 0.8571071624755859, 1.3469538688659668, 1.290328860282898, -0.5260030627250671, -0.0020279705058783293, 1.5674339532852173, 0.27172204852104187, -0.05542991682887077, 0.6396547555923462, 1.5853286981582642, 0.009329980239272118, 0.25973084568977356, 0.14407609403133392, 0.628124475479126, 0.6288045048713684, 0.09212995320558548, 0.4595067501068115, 0.5405183434486389, 0.749211847782135, 0.1356867104768753, 0.3502510190010071, 0.32335108518600464, 0.6610729098320007, 0.15693262219429016, 0.35738590359687805, 0.5907399654388428, 0.03999463841319084, 0.0893750786781311, 0.11467456817626953, 0.5867210626602173, 1.3059167861938477, 0.5627791881561279, -1.106767177581787, 0.5531918406486511, 0.0057524279691278934, -9.58738019107841e-05, 0.1462075412273407, -0.6000741124153137], "mean": [1.0636931657791138, -0.7445332407951355, -0.22069472074508667, 1.4320536851882935, -0.7722211480140686, -0.5639159083366394, 0.2280036062002182, 1.1898599863052368, -0.23120500147342682, 0.11712224781513214, 0.07526126503944397, 0.17646223306655884, 0.49207958579063416, -0.007863263599574566, 0.35421010851860046, 0.4652731120586395, 0.5480403900146484, -0.012059301137924194, 0.26943400502204895, 0.2466972917318344, 0.4059927761554718, 0.030967751517891884, 0.24188873171806335, 0.33534103631973267, 0.075673907995224, 0.07951055467128754, -0.0065156035125255585, 0.6030804514884949, 1.0440404415130615, 1.1389074325561523, -0.6827977895736694, -0.22265008091926575, 1.2745178937911987, -0.6404372453689575, -0.3020365536212921, 0.393556147813797, 1.2767678499221802, -0.13975097239017487, 0.19523365795612335, -0.014062921516597271, 0.3653343915939331, 0.4740811884403229, 0.017679203301668167, 0.3255716860294342, 0.4154118001461029, 0.5074672698974609, 0.05207931622862816, 0.24220454692840576, 0.2539170980453491, 0.3579240143299103, 0.08735083043575287, 0.24298542737960815, 0.3759007453918457, 0.031083734706044197, 0.03658374398946762, 0.05734197050333023, 0.35452866554260254, 0.9009547829627991, 0.5623120069503784, -1.1068700551986694, 0.5523725748062134, 0.004893897101283073, -0.012482239864766598, 0.05298858880996704, -0.7338649034500122], "std": [0.0633927434682846, 0.07849301397800446, 0.04228638857603073, 0.09288597106933594, 0.31733453273773193, 0.0629490464925766, 0.16578735411167145, 0.295617938041687, 0.05646970495581627, 0.07183249294757843, 0.04163644462823868, 0.03234231472015381, 0.1983434110879898, 0.07548115402460098, 0.09655210375785828, 0.11691122502088547, 0.2956225872039795, 0.0715472549200058, 0.09340070188045502, 0.07945984601974487, 0.3095082938671112, 0.04275798052549362, 0.12668751180171967, 0.17679829895496368, 0.03282235562801361, 0.06756015121936798, 0.023031610995531082, 0.28113117814064026, 0.29909899830818176, 0.12200496345758438, 0.0809345468878746, 0.03987722471356392, 0.18035493791103363, 0.8124697804450989, 0.15164531767368317, 0.23931224644184113, 0.33375540375709534, 0.06910820305347443, 0.04590248689055443, 0.09272923320531845, 0.19753499329090118, 0.19235822558403015, 0.06730374693870544, 0.09746576100587845, 0.11436855047941208, 0.25716063380241394, 0.05901159718632698, 0.09420721232891083, 0.10002737492322922, 0.2505649924278259, 0.045619528740644455, 0.1226762905716896, 0.22400909662246704, 0.002996099181473255, 0.03075774759054184, 0.0355234369635582, 0.21188822388648987, 0.480664998292923, 9.826860332395881e-05, 2.1115922208991833e-05, 0.0014988965122029185, 0.0009214433375746012, 0.0022807095665484667, 0.04591019079089165, 0.03256194293498993], "count": [621]}, "observation.state.joint_torque": {"min": [-37.81949996948242, -17.034000396728516, -21.03700065612793, -11.866999626159668, -0.14640000462532043, -2.3447999954223633, 0.7328000068664551, -1.0226426124572754, -0.539975643157959, -0.47097936272621155, -0.664838969707489, -0.08467306196689606, -0.5526514053344727, -0.8635178804397583, -0.1759871542453766, -0.06706927716732025, -0.3741910457611084, -0.7992337346076965, -0.14444229006767273, -0.027826614677906036, -0.37323158979415894, -0.39433979988098145, -0.13116022944450378, -0.050658710300922394, -0.08180300146341324, -0.37994784116744995, -0.31854212284088135, -0.18262816965579987, -0.1148739829659462, 14.852999687194824, -7.384500026702881, 3.687999963760376, -7.171000003814697, -1.757599949836731, -1.5887999534606934, -2.9272000789642334, -1.0022661685943604, -0.7793988585472107, -0.36037999391555786, -0.43245595693588257, -0.10293588042259216, -0.39433979988098145, -0.5344215631484985, -0.07637178897857666, -0.03424813970923424, -0.4240831732749939, -0.5267458558082581, -0.1145576685667038, -0.01855107769370079, -0.5037187337875366, -0.5468946695327759, -0.1494230479001999, -0.05922074615955353, -0.06377115845680237, -0.38474518060684204, -0.5814352631568909, -0.3270704448223114, -0.21405088901519775, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-20.11949920654297, 17.22450065612793, -8.52400016784668, 5.651000022888184, 2.55679988861084, 2.4911999702453613, 3.555999994277954, 0.9309486746788025, 1.8402472734451294, 1.453946828842163, 0.7021195888519287, 0.09297433495521545, 0.9776940941810608, 0.4806915819644928, 0.17432688176631927, 0.020691584795713425, 1.356682300567627, 0.4902862310409546, 0.20089100301265717, 0.04281017929315567, 0.3693937361240387, 0.3502044379711151, 0.11123716086149216, 0.022118592634797096, 0.05849354341626167, 0.3597990870475769, 0.2907176613807678, 0.09961536526679993, 0.03424813970923424, 39.85200119018555, 18.295499801635742, 17.999000549316406, 6.926000118255615, 0.6944000124931335, 2.9296000003814697, 1.968000054359436, 1.4518213272094727, 2.2605113983154297, 0.7791663408279419, 0.720759928226471, 0.3635960817337036, 0.7608551383018494, 0.48452943563461304, 0.0979551151394844, 0.02354559674859047, 0.8750314116477966, 0.4730158746242523, 0.11621791869401932, 0.025686107575893402, 0.5958272814750671, 0.5651244521141052, 0.1328205019235611, 0.03638865053653717, -0.01319403201341629, 0.4451914131641388, 1.1225731372833252, 0.11953844130039215, 0.15411663055419922, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-25.286155700683594, 2.5875916481018066, -13.092674255371094, -4.006957530975342, 0.5544567108154297, 1.0719515085220337, 1.9389640092849731, 0.15548937022686005, 0.7980561852455139, 0.6270850300788879, 0.2584332227706909, 0.014249889180064201, 0.4070151150226593, 0.0497979037463665, 0.07631567865610123, 0.00869760848581791, 0.5077804327011108, 0.008058902807533741, 0.07272513210773468, 0.01762615516781807, 0.074195496737957, 0.05482080578804016, 0.03239240124821663, 0.007275207433849573, -0.018589209765195847, 0.08154365420341492, -0.033193439245224, 0.023930693045258522, 0.0056287506595253944, 26.255388259887695, 2.247556447982788, 12.573962211608887, -2.520949363708496, -0.2999612092971802, 0.5590953230857849, -1.2512494325637817, 0.2264518290758133, 0.5912593603134155, 0.29365071654319763, 0.049163300544023514, 0.04864203929901123, 0.1291615515947342, -0.02990253083407879, 0.02185070887207985, -0.00034468850935809314, 0.22444653511047363, -0.032967884093523026, 0.016252335160970688, -0.002325492212548852, 0.06718569993972778, -0.028902877122163773, -0.012164506129920483, 0.008635561913251877, -0.03575202077627182, -0.03473072499036789, 0.03988499939441681, -0.0031413775868713856, 7.466995884897187e-05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.6587244272232056, 2.2166223526000977, 1.0327988862991333, 1.2898929119110107, 0.2873046100139618, 0.589123547077179, 0.46787405014038086, 0.37900087237358093, 0.8210660219192505, 0.6834834218025208, 0.3411540687084198, 0.030664442107081413, 0.39422717690467834, 0.2515392005443573, 0.0720813125371933, 0.009347046725451946, 0.6233977675437927, 0.19689998030662537, 0.09149886667728424, 0.018352288752794266, 0.19154389202594757, 0.14782720804214478, 0.05722546949982643, 0.010564109310507774, 0.02139328233897686, 0.1606946587562561, 0.08602052927017212, 0.05471552535891533, 0.011166270822286606, 2.8113949298858643, 2.4745967388153076, 2.5072460174560547, 1.3816003799438477, 0.3803063631057739, 1.2156583070755005, 1.1867494583129883, 0.642059862613678, 0.8281649947166443, 0.31473883986473083, 0.256401389837265, 0.12661319971084595, 0.2823290526866913, 0.2091648429632187, 0.04212604835629463, 0.01021676603704691, 0.32729631662368774, 0.2264530509710312, 0.044839050620794296, 0.010682842694222927, 0.1939258575439453, 0.18947897851467133, 0.06727328896522522, 0.01623585820198059, 0.011084563098847866, 0.15651097893714905, 0.2925627529621124, 0.06595119088888168, 0.04047786816954613, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [621]}, "observation.state.tcp": {"min": [0.3194914162158966, 0.12696710228919983, 0.9143983125686646, -1.2116200923919678, 1.217930555343628, -1.2712942361831665, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3466380834579468, -0.2824235260486603, 0.8788094520568848, -1.0384618043899536, 1.21769380569458, 0.5566104054450989, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.406881183385849, 0.24164743721485138, 1.0518450736999512, -0.20067749917507172, 1.8922755718231201, -0.8033687472343445, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4483841061592102, -0.09631402045488358, 1.0761622190475464, 1.264085054397583, 1.7871336936950684, 1.5523271560668945, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3419129550457001, 0.18239745497703552, 0.9752521514892578, -0.4228321611881256, 1.7268129587173462, -1.0132471323013306, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.37517058849334717, -0.20120280981063843, 0.9973646998405457, 0.4740762710571289, 1.5116009712219238, 1.1553722620010376, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.021183615550398827, 0.03860452026128769, 0.03469010815024376, 0.2824510931968689, 0.16671766340732574, 0.11636579781770706, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.02323332615196705, 0.05695730075240135, 0.06300122290849686, 0.8211144208908081, 0.17427705228328705, 0.32271042466163635, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [621]}, "action": {"min": [0.9543278217315674, -0.8769576549530029, -0.2310558557510376, 1.2390730381011963, -1.0110851526260376, -0.7699999809265137, 0.013134710490703583, 0.0, -0.2934345602989197, -0.008973948657512665, -0.05105704441666603, 0.0, 0.0, -0.13653700053691864, 0.0, 0.0, 0.0, -0.15686745941638947, 0.0, 0.0, 0.0, -0.05652430281043053, 0.0, 0.0, -9.978760040496581e-09, 0.0, -0.10559888929128647, 0.0, 0.0, 0.9170328974723816, -0.9164576530456543, -0.23365087807178497, 0.9343860745429993, -2.168473720550537, -0.7647078037261963, -0.0036432044580578804, 0.0, -0.28962597250938416, 0.0, -0.1405828893184662, 0.0, 0.0, -0.15193131566047668, 0.0, 0.0, 0.0, -0.0902230516076088, 0.0, 0.0, 0.0, -0.06122857332229614, 0.0, 0.0, -9.905855691272336e-09, -0.001793439849279821, -0.066834457218647, 0.0, 0.0, 0.5623956918716431, -1.1068999767303467, 0.5442000031471252, -8.245059111176404e-20, -0.016089225187897682, -0.005538068246096373, -0.7770388126373291], "max": [1.2518242597579956, -0.6419709920883179, 9.175677134214933e-18, 1.580479621887207, 0.09462743997573853, -0.4364175498485565, 0.5199999809265137, 1.4235060214996338, 0.0, 0.3511391282081604, 0.144357368350029, 0.23299792408943176, 0.7878794074058533, 0.10083765536546707, 0.4725574851036072, 0.5676766633987427, 1.051069974899292, 0.07321551442146301, 0.3892226219177246, 0.336863249540329, 0.8010942935943604, 0.12546417117118835, 0.38122743368148804, 0.5020402669906616, 0.12636606395244598, 0.18674024939537048, 0.03898901492357254, 0.8753597140312195, 1.3884024620056152, 1.290653109550476, -0.5259636640548706, -0.002158024813979864, 1.5685867071151733, 0.27180221676826477, -0.05493569001555443, 0.6396700143814087, 1.6402385234832764, 0.03449878469109535, 0.2887379825115204, 0.15428078174591064, 0.7042548656463623, 0.6561142802238464, 0.10448101907968521, 0.4841740131378174, 0.5544213056564331, 0.8356996178627014, 0.1453358381986618, 0.3675711750984192, 0.3375815749168396, 0.7188864350318909, 0.15935365855693817, 0.38471949100494385, 0.6082069873809814, 0.017899250611662865, 0.08525273203849792, 0.12335250526666641, 0.6013118624687195, 1.3988914489746094, 0.5626999735832214, -1.106863021850586, 0.5536836385726929, 0.0059653036296367645, -5.865582313818415e-20, 0.14636613428592682, -0.6000000238418579], "mean": [1.0638337135314941, -0.744662344455719, -0.22074389457702637, 1.4321848154067993, -0.7725455164909363, -0.5639863610267639, 0.22843576967716217, 1.1957204341888428, -0.18924924731254578, 0.19754020869731903, 0.08491717278957367, 0.17981742322444916, 0.5513245463371277, -0.004795691929757595, 0.3736902177333832, 0.4748905599117279, 0.6332400441169739, -0.012004528194665909, 0.28938329219818115, 0.2662944197654724, 0.41298454999923706, 0.03148854523897171, 0.25134971737861633, 0.34505292773246765, 0.0641200840473175, 0.08363830298185349, -0.024214984849095345, 0.6104342341423035, 1.0420809984207153, 1.1395493745803833, -0.6832941770553589, -0.22268597781658173, 1.274623155593872, -0.6336637735366821, -0.30192235112190247, 0.39404091238975525, 1.2828338146209717, -0.10783082991838455, 0.23182879388332367, -0.012743637897074223, 0.37713325023651123, 0.49381494522094727, 0.017631279304623604, 0.3316047489643097, 0.41538968682289124, 0.5397810935974121, 0.050872065126895905, 0.24781949818134308, 0.25263941287994385, 0.3671633005142212, 0.0856279507279396, 0.2412899285554886, 0.38643813133239746, 0.002307459246367216, 0.03523867204785347, 0.058802131563425064, 0.3564826548099518, 0.9255975484848022, 0.5624096393585205, -1.1068681478500366, 0.5524131655693054, 0.004939329344779253, -0.012516613118350506, 0.05299298092722893, -0.7338513135910034], "std": [0.06371602416038513, 0.07856234163045883, 0.04237240180373192, 0.09284914284944534, 0.3167809545993805, 0.06315194815397263, 0.16597755253314972, 0.32128968834877014, 0.07393808662891388, 0.14535924792289734, 0.04306987300515175, 0.042625438421964645, 0.24132253229618073, 0.08162223547697067, 0.11598073691129684, 0.13144443929195404, 0.380880743265152, 0.07323606312274933, 0.11302588880062103, 0.09414395689964294, 0.3208009898662567, 0.04964873567223549, 0.13472259044647217, 0.18401381373405457, 0.04129995405673981, 0.07342924177646637, 0.04532657563686371, 0.29534366726875305, 0.3276641070842743, 0.12192954868078232, 0.08154411613941193, 0.03985229507088661, 0.18009088933467865, 0.8093042969703674, 0.15197350084781647, 0.23909221589565277, 0.3645932972431183, 0.09689836949110031, 0.05835912004113197, 0.09403015673160553, 0.22457192838191986, 0.2094140201807022, 0.0707877054810524, 0.1066579520702362, 0.12285240739583969, 0.28391867876052856, 0.061983730643987656, 0.10232419520616531, 0.1025739535689354, 0.2639417052268982, 0.048281095921993256, 0.13058985769748688, 0.23610056936740875, 0.005224171094596386, 0.028272442519664764, 0.04072359949350357, 0.22255560755729675, 0.5284239649772644, 5.4662148613715544e-05, 7.300963716261322e-06, 0.0015961263561621308, 0.0009717306238599122, 0.0024425520095974207, 0.0460161529481411, 0.03310185298323631], "count": [621]}, "observation.state.tcp_pose": {"min": [0.3194914162158966, 0.12696710228919983, 0.9143983125686646, -1.2116200923919678, 1.217930555343628, -1.2712942361831665, 0.3466380834579468, -0.2824235260486603, 0.8788094520568848, -1.0384618043899536, 1.21769380569458, 0.5566104054450989], "max": [0.406881183385849, 0.24164743721485138, 1.0518450736999512, -0.20067749917507172, 1.8922755718231201, -0.8033687472343445, 0.4483841061592102, -0.09631402045488358, 1.0761622190475464, 1.264085054397583, 1.7871336936950684, 1.5523271560668945], "mean": [0.3419129550457001, 0.18239745497703552, 0.9752521514892578, -0.4228321611881256, 1.7268129587173462, -1.0132471323013306, 0.37517058849334717, -0.20120280981063843, 0.9973646998405457, 0.4740762710571289, 1.5116009712219238, 1.1553722620010376], "std": [0.021183615550398827, 0.03860452026128769, 0.03469010815024376, 0.2824510931968689, 0.16671766340732574, 0.11636579781770706, 0.02323332615196705, 0.05695730075240135, 0.06300122290849686, 0.8211144208908081, 0.17427705228328705, 0.32271042466163635], "count": [621]}, "action.tcp_pose": {"min": [0.319612592458725, 0.12701454758644104, 0.9144443869590759, -1.208855390548706, 1.2178406715393066, -1.2690523862838745, 0.34623199701309204, -0.2844724655151367, 0.8787269592285156, -1.038343071937561, 1.2176800966262817, 0.5565147995948792], "max": [0.40687334537506104, 0.24140024185180664, 1.0518072843551636, -0.20019449293613434, 1.8923773765563965, -0.8031606674194336, 0.44790199398994446, -0.09631406515836716, 1.0760632753372192, 1.2609773874282837, 1.7886086702346802, 1.5529364347457886], "mean": [0.34198451042175293, 0.1823810636997223, 0.9752919673919678, -0.42213019728660583, 1.7267369031906128, -1.013575792312622, 0.3755059242248535, -0.20164109766483307, 0.997554361820221, 0.48082366585731506, 1.5118852853775024, 1.1572372913360596], "std": [0.02123572677373886, 0.0385691374540329, 0.03484223410487175, 0.2816642224788666, 0.1668442338705063, 0.11620941758155823, 0.02347826212644577, 0.05705155432224274, 0.06293584406375885, 0.8176841139793396, 0.17349888384342194, 0.3212219476699829], "count": [621]}, "subtask_index": {"min": [0], "max": [4], "mean": [1.8309178743961352], "std": [1.3047950566250728], "count": [621]}, "observation.tactile": {"min": [-2.2236924171447754, -0.1613686978816986, -0.00010666878370102495, -0.0340871699154377, -0.004788896068930626, -0.026015669107437134, -0.15365611016750336, -4.245034870109521e-05, -9.467156633036211e-05, -0.01603480614721775, -0.002317373175173998, -0.002825140720233321, -0.15965700149536133, -3.1839459552429616e-05, -6.690649024676532e-05, -0.05496033653616905, -0.0008693181443959475, -0.006639905273914337, -0.006622405257076025, -2.667844273673836e-05, -6.0204012697795406e-05, -0.016795136034488678, -0.0007700656424276531, -0.00014379563799593598, -0.006350341252982616, -4.900921703665517e-05, -0.00011201982124475762, -0.0013923341175541282, -9.723441326059401e-05, -0.00011920111137442291, -0.00018441485008224845, -3.961169932154007e-05, -8.825105032883584e-05, -0.08998673409223557, -1.6474435824420652e-06, -5.0391885451972485e-05, -0.010175020433962345, -3.392077633179724e-05, -7.508439011871815e-05, -0.0013979123905301094, -5.156651604920626e-05, -0.00021725334227085114, -0.0066020069643855095, -4.2792911699507385e-05, -9.753547783475369e-05, -0.0011406760895624757, -2.685655272216536e-05, -0.0001735772384563461, -0.662033200263977, -4.33017557952553e-05, -9.800450061447918e-05, -0.016127977520227432, -0.0006095757125876844, -0.009192013181746006, -0.007077313028275967, -0.22964675724506378, -1.6463552713394165, -0.04312726482748985, -0.008202692493796349, -0.00013919940101914108], "max": [0.0003657177439890802, 0.6380708813667297, 2.8491249084472656, 1.992044417420402e-06, 7.172474579419941e-05, 7.660543815291021e-06, 0.5295555591583252, 0.4611072540283203, 1.1386572122573853, 1.7488033563495264e-06, 0.0017772760475054383, 0.00848575122654438, 0.9069750905036926, 1.9821103811264038, 3.8758485317230225, 1.2163936844444834e-06, 0.008967726491391659, 0.01146798674017191, 0.5079723596572876, 0.5045255422592163, 0.839711606502533, 1.0739105391621706e-06, 0.000707909232005477, 0.010343247093260288, 0.18928804993629456, 0.03658249229192734, 0.08073320984840393, 2.100423671436147e-06, 0.000585230824071914, 0.0034224651753902435, 4.382647514343262, 3.880629539489746, 7.865845203399658, 1.6957983461907133e-06, 0.02273392491042614, 0.04172353446483612, 0.017763245850801468, 0.021501407027244568, 0.06770872324705124, 1.3868161659047473e-06, 0.00034930871333926916, 0.0002693133719731122, 0.0013066199608147144, 0.017438534647226334, 0.04959750920534134, 1.7713407487462973e-06, 0.00010791152453748509, 6.827198376413435e-06, 0.15709032118320465, 0.5278627872467041, 1.3414194583892822, 1.8037585505226161e-06, 0.0037586840335279703, 0.002321031177416444, 5.228102207183838, 5.684582233428955, 2.2971339225769043, 0.03444962948560715, 0.008984232321381569, 0.0947364866733551], "mean": [-0.8112508654594421, 0.22646114230155945, 1.2384393215179443, -0.014247248880565166, -0.0015482021262869239, -0.00907247606664896, 0.13429421186447144, 0.10945677012205124, 0.3168673515319824, -0.004579262807965279, -0.0005099544068798423, 0.0020970357581973076, 0.09572084993124008, 0.6999884843826294, 1.528598666191101, -0.020977899432182312, 0.0027576303109526634, -2.1543510229093954e-05, 0.12714256346225739, 0.10355836898088455, 0.1920979768037796, -0.003800355363637209, -9.689761645859107e-05, 0.002584227593615651, 0.027728963643312454, 0.0078048789873719215, 0.019824031740427017, -0.0003571622946765274, 0.00010320570436306298, 0.000454498192993924, 1.1375235319137573, 1.0291329622268677, 2.328326463699341, -0.025400729849934578, 0.0070088752545416355, 0.009241040796041489, -0.0007107746787369251, 0.002521198010072112, 0.007256518583744764, -0.00012365567090455443, 1.1411575542297214e-05, -1.5865898603806272e-05, 4.031532080261968e-05, 0.000699682452250272, 0.002047901041805744, -3.528991510393098e-05, 3.666472366603557e-06, -2.2936276877771888e-07, -0.0810672864317894, 0.06522002816200256, 0.1840847134590149, -0.0021434794180095196, 0.0004383337509352714, -0.0010776518611237407, 0.23420536518096924, 0.24586978554725647, 0.07454700022935867, -0.0013204192509874701, 0.00028469384415075183, 0.003532983362674713], "std": [0.7619525790214539, 0.26754358410835266, 1.1529067754745483, 0.013161825947463512, 0.001488588866777718, 0.008567395620048046, 0.19860725104808807, 0.14312811195850372, 0.40832042694091797, 0.0058922539465129375, 0.0008641670574434102, 0.0031415775883942842, 0.15817762911319733, 0.7405242919921875, 1.6366838216781616, 0.022750860080122948, 0.0031828288920223713, 0.001904575969092548, 0.19005796313285828, 0.15803846716880798, 0.2831808626651764, 0.005582631565630436, 0.0002245449140900746, 0.0038670776411890984, 0.03869551047682762, 0.007827107794582844, 0.018310140818357468, 0.00032398910843767226, 0.00012424489250406623, 0.0006513940170407295, 1.3442041873931885, 1.3026944398880005, 2.734708070755005, 0.030225669965147972, 0.008229929953813553, 0.011719711124897003, 0.0016040409682318568, 0.0029592823702841997, 0.008596587926149368, 0.00016443101048935205, 3.0035816962481476e-05, 2.9117278245394118e-05, 0.0007594190537929535, 0.0019610030576586723, 0.005658140871673822, 0.00011337562318658456, 1.4067180927668232e-05, 1.8591330444905907e-05, 0.17504048347473145, 0.1269969940185547, 0.3444708287715912, 0.004043221473693848, 0.0009901467710733414, 0.002372167771682143, 0.7917670011520386, 0.8877870440483093, 0.46227023005485535, 0.008709689602255821, 0.001666625845246017, 0.013181343674659729], "count": [621]}, "timestamp": {"min": [0.0], "max": [20.666666666666668], "mean": [10.333333333333334], "std": [5.975567538519451], "count": [621]}, "frame_index": {"min": [0], "max": [620], "mean": [310.0], "std": [179.26702615558352], "count": [621]}, "episode_index": {"min": [12], "max": [12], "mean": [12.0], "std": [0.0], "count": [621]}, "index": {"min": [8407], "max": [9027], "mean": [8717.0], "std": [179.26702615558352], "count": [621]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [621]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5338300466537476]], [[0.5334663391113281]], [[0.535383939743042]]], "std": [[[0.28064945340156555]], [[0.28067371249198914]], [[0.2816610038280487]]], "count": [621]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2227775603532791]], [[0.22231276333332062]], [[0.2176148146390915]]], "std": [[[0.14744217693805695]], [[0.14790798723697662]], [[0.14908188581466675]]], "count": [621]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2982291281223297]], [[0.29933369159698486]], [[0.2992421090602875]]], "std": [[[0.16885429620742798]], [[0.17051196098327637]], [[0.17007192969322205]]], "count": [621]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5316324234008789]], [[0.5315534472465515]], [[0.5332291126251221]]], "std": [[[0.2832396924495697]], [[0.28340083360671997]], [[0.284310519695282]]], "count": [621]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.46666666865348816]], [[0.46666666865348816]], [[0.46666666865348816]]], "mean": [[[0.0012060068547725677]], [[0.0012060068547725677]], [[0.0012060068547725677]]], "std": [[[0.0173733402043581]], [[0.0173733402043581]], [[0.0173733402043581]]], "count": [621]}, "observation.images.tactile_raw": {"min": [[[0.0784313753247261]], [[0.0784313753247261]], [[0.0784313753247261]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.507239043712616]], [[0.507239043712616]], [[0.507239043712616]]], "std": [[[0.23615336418151855]], [[0.23615336418151855]], [[0.23615336418151855]]], "count": [621]}}}
+{"episode_index": 13, "stats": {"observation.state": {"min": [0.9727206826210022, -0.8795913457870483, -0.23106712102890015, 1.0032618045806885, -0.8809142112731934, -0.7700490355491638, 0.05154235288500786, 0.009183451533317566, -0.28989264369010925, -0.018273113295435905, -0.04961604252457619, 0.0217350572347641, -0.03243127465248108, -0.15977925062179565, 0.011055625043809414, 0.013174537569284439, -0.015125826932489872, -0.17351539433002472, 0.017328551039099693, 0.0028157352935522795, -0.007256148383021355, -0.03866690769791603, 0.014200598001480103, 0.002642357023432851, 0.03228170797228813, 0.00020434650650713593, -0.035593125969171524, 0.0112580806016922, 0.002781148301437497, 0.8953100442886353, -0.9191555380821228, -0.2337895780801773, 0.9494951367378235, -2.168488025665283, -0.7670403718948364, -0.01171314250677824, 0.01235559768974781, -0.292768269777298, 0.003278201911598444, -0.1442287564277649, 0.014888805337250233, 0.00488935736939311, -0.15517815947532654, 0.008715865202248096, 0.002182084135711193, -0.011239069513976574, -0.11197243630886078, 0.0146055081859231, 0.0015723776305094361, -0.011308982968330383, -0.01910531520843506, 0.017061565071344376, 0.006278424523770809, 0.013569877482950687, -0.08899533003568649, 0.0015258541097864509, 0.010751410387456417, -0.010611552745103836, 0.5620121955871582, -1.1069588661193848, 0.5442755818367004, 0.0001917476038215682, -0.015723302960395813, 0.0, -0.7924928069114685], "max": [1.2969766855239868, -0.5380294919013977, 1.1984224101979635e-07, 1.5700082778930664, 0.07500338554382324, -0.3001815974712372, 0.520027756690979, 1.3247238397598267, -0.0036232967395335436, 0.2889401316642761, 0.135668084025383, 0.2760615646839142, 0.6595235466957092, 0.007282388862222433, 0.4144538640975952, 0.5407497882843018, 0.7449595928192139, 0.011153195053339005, 0.380283921957016, 0.3295581042766571, 0.5661463737487793, 0.09108687937259674, 0.3349693715572357, 0.4645395576953888, 0.15799841284751892, 0.09679582715034485, 0.03444432094693184, 0.7066066265106201, 1.2912421226501465, 1.3010166883468628, -0.5310125946998596, -0.0020324047654867172, 1.5674282312393188, 0.1405230611562729, -0.12609921395778656, 0.6570541858673096, 1.5247488021850586, 0.02747195214033127, 0.2727926969528198, 0.14195458590984344, 0.6745930910110474, 0.7095568180084229, 0.12557165324687958, 0.41318947076797485, 0.4899463951587677, 0.7310009598731995, 0.1697019636631012, 0.7746145725250244, 0.3776974081993103, 0.761167049407959, 0.16782262921333313, 0.3608663082122803, 0.5385699272155762, 0.05501590669155121, 0.17563466727733612, 0.13373278081417084, 0.7609787583351135, 1.3050626516342163, 0.5627791881561279, -1.106767177581787, 0.5531918406486511, 0.006231796927750111, -0.0001917476038215682, 0.19519905745983124, -0.6008411049842834], "mean": [1.0788360834121704, -0.6794397830963135, -0.2219109684228897, 1.3108196258544922, -0.7002020478248596, -0.4259258210659027, 0.2585430145263672, 1.1674292087554932, -0.21588751673698425, 0.1333930343389511, 0.08139090240001678, 0.1786198765039444, 0.40517300367355347, -0.055125556886196136, 0.300597220659256, 0.42234092950820923, 0.4828875660896301, -0.044511567801237106, 0.2876530885696411, 0.25262975692749023, 0.2588018476963043, 0.023622682318091393, 0.19788002967834473, 0.2824052572250366, 0.0706559270620346, 0.04660386964678764, -0.010631384328007698, 0.3658638298511505, 0.9805156588554382, 1.132514238357544, -0.6835904717445374, -0.22256474196910858, 1.2782132625579834, -0.653401255607605, -0.29908454418182373, 0.36805859208106995, 1.2486587762832642, -0.11614472419023514, 0.17569038271903992, -0.00947367213666439, 0.38652709126472473, 0.4854338765144348, 0.02692868560552597, 0.2896387577056885, 0.36860212683677673, 0.4126562476158142, 0.07535456866025925, 0.5437796711921692, 0.27993249893188477, 0.37831032276153564, 0.1092832013964653, 0.21704211831092834, 0.3139244019985199, 0.025458762422204018, 0.05694037675857544, 0.0719936192035675, 0.42000436782836914, 0.9512282013893127, 0.5623074173927307, -1.1068673133850098, 0.5524049997329712, 0.004887889139354229, -0.012561372481286526, 0.07038765400648117, -0.7479388117790222], "std": [0.0649929866194725, 0.0917510837316513, 0.039357155561447144, 0.14221122860908508, 0.2677861452102661, 0.11993420124053955, 0.13972507417201996, 0.2607698142528534, 0.06059522181749344, 0.07591567933559418, 0.04007178544998169, 0.03504282981157303, 0.21957801282405853, 0.05341427028179169, 0.13043692708015442, 0.17478330433368683, 0.2761610746383667, 0.05090642347931862, 0.11451862007379532, 0.09436585754156113, 0.2225947082042694, 0.04610710218548775, 0.1307474821805954, 0.18963775038719177, 0.049004558473825455, 0.03412461280822754, 0.029945729300379753, 0.20232784748077393, 0.46329978108406067, 0.12391417473554611, 0.08989996463060379, 0.038009632378816605, 0.1386401206254959, 0.7941069602966309, 0.11461513489484787, 0.2408735752105713, 0.3262476921081543, 0.07339820265769958, 0.05455033481121063, 0.09757647663354874, 0.2208847999572754, 0.21273353695869446, 0.08545344322919846, 0.09590602666139603, 0.12270861864089966, 0.26455801725387573, 0.0756353884935379, 0.17196878790855408, 0.07595071941614151, 0.32018232345581055, 0.048023521900177, 0.12515698373317719, 0.20978812873363495, 0.012794462963938713, 0.06474531441926956, 0.03528233617544174, 0.2889132499694824, 0.47639548778533936, 0.0001001790224108845, 2.590881376818288e-05, 0.00137619290035218, 0.0008451845496892929, 0.0020485303830355406, 0.06507965922355652, 0.04033228009939194], "count": [688]}, "observation.state.joint_torque": {"min": [-32.122501373291016, -14.034000396728516, -17.066999435424805, -11.3149995803833, -0.3400000035762787, -2.3127999305725098, 0.8519999980926514, -0.7628429532051086, -0.4482816755771637, -0.5927629470825195, -0.6623535752296448, -0.0879935771226883, -0.38954246044158936, -0.5507324934005737, -0.12119869887828827, -0.02497260272502899, -0.393380343914032, -0.8097878098487854, -0.14444229006767273, -0.02425910159945488, -0.3550017774105072, -0.35404229164123535, -0.09131408482789993, -0.02425910159945488, -0.08136319369077682, -0.3741910457611084, -0.3981776535511017, -0.13946151733398438, -0.14198710024356842, 10.4399995803833, -14.383500099182129, 0.4779999852180481, -9.536999702453613, -1.7128000259399414, -3.635200023651123, -3.2792000770568848, -1.2111246585845947, -1.2404158115386963, -0.28084784746170044, -0.8499996066093445, -0.09629485011100769, -0.37323158979415894, -0.6322869062423706, -0.09297433495521545, -0.12200900912284851, -0.37323158979415894, -0.6936926245689392, -0.1145576685667038, -0.1284305304288864, -0.3674747943878174, -0.8011526465415955, -0.15274357795715332, -0.03638865053653717, -0.10995026677846909, -0.40393444895744324, -0.6015840768814087, -0.19923073053359985, -0.17980274558067322, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.827999114990234, 9.321000099182129, -9.746000289916992, 2.9660000801086426, 2.138400077819824, 2.1191999912261963, 3.356800079345703, 0.9398633241653442, 1.7523739337921143, 0.9171048998832703, 0.8065055012702942, 0.09297433495521545, 0.8078689575195312, 0.41736695170402527, 0.11953844130039215, 0.026399608701467514, 0.7503010630607605, 0.5123538970947266, 0.15440380573272705, 0.02925362065434456, 0.3214205205440521, 0.31182587146759033, 0.10791664570569992, 0.02996712550520897, 0.051896531134843826, 0.3118259012699127, 0.2437039166688919, 0.09961536526679993, 0.039956167340278625, 37.58549880981445, 12.26099967956543, 16.73900032043457, 4.636000156402588, 0.646399974822998, 2.8296000957489014, 4.985599994659424, 1.0175484418869019, 2.512669801712036, 1.2961251735687256, 1.2265347242355347, 0.4034422039985657, 1.0678837299346924, 0.7100035548210144, 0.14776279032230377, 0.04281017929315567, 1.2319520711898804, 0.44231298565864563, 0.23741662502288818, 0.04851820319890976, 1.1494381427764893, 0.7234359979629517, 0.1759871542453766, 0.04352368041872978, 0.05805373936891556, 0.684097945690155, 0.7493415474891663, 0.29552558064460754, 0.17980274558067322, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-26.618194580078125, 2.0498602390289307, -12.854716300964355, -3.386413335800171, 0.35492920875549316, 0.9153242707252502, 1.9528515338897705, 0.10919570177793503, 0.7376959323883057, 0.30130186676979065, 0.2965622544288635, 0.006165646482259035, 0.2538997530937195, 0.025887381285429, 0.021566415205597878, 0.008214619010686874, 0.27597692608833313, -0.07148849964141846, 0.046742893755435944, 0.015142224729061127, 0.06727540493011475, 0.04765107482671738, 0.017534084618091583, 0.006469202693551779, -0.03491496667265892, -0.005101291462779045, 0.02580517902970314, 0.00687751779332757, 0.010677636601030827, 26.07886505126953, 2.112732410430908, 12.506293296813965, -2.7278857231140137, -0.3057463765144348, 0.46515220403671265, -1.2055021524429321, -0.04851805791258812, 0.6910828351974487, 0.4616520404815674, 0.004840700421482325, 0.062358539551496506, 0.333125501871109, 0.0019063892541453242, 0.042954277247190475, -0.00023230268561746925, 0.31220927834510803, -0.0963214859366417, 0.08793327957391739, 0.01258169487118721, 0.2855398952960968, -0.10148411989212036, 0.024457409977912903, 0.01030741073191166, -0.02668154053390026, -0.013155014254152775, 0.07521330565214157, 0.02344387397170067, 0.00803207978606224, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.5133620500564575, 1.8083339929580688, 1.1237958669662476, 1.2685858011245728, 0.3026377260684967, 0.5168501734733582, 0.4474741816520691, 0.4157674014568329, 0.7914530038833618, 0.4452282786369324, 0.30060046911239624, 0.027794277295470238, 0.292885422706604, 0.2218523472547531, 0.0435451865196228, 0.008957426995038986, 0.35486698150634766, 0.2083657681941986, 0.06228111684322357, 0.011161623522639275, 0.15486536920070648, 0.12180115282535553, 0.06228537857532501, 0.011076891794800758, 0.023461125791072845, 0.1637648493051529, 0.11155450344085693, 0.05638233944773674, 0.011960583738982677, 3.259453773498535, 2.9772799015045166, 2.51448917388916, 1.3339252471923828, 0.36646440625190735, 1.2384307384490967, 1.2702555656433105, 0.5099087357521057, 0.9268214702606201, 0.506198525428772, 0.4034474194049835, 0.16789555549621582, 0.3986915349960327, 0.241712749004364, 0.046653494238853455, 0.010919202119112015, 0.4106377363204956, 0.24437084794044495, 0.08173033595085144, 0.010220646858215332, 0.416445255279541, 0.2874566912651062, 0.08278769254684448, 0.017682291567325592, 0.03611527010798454, 0.2019866704940796, 0.28017333149909973, 0.055404651910066605, 0.019205985590815544, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [688]}, "observation.state.tcp": {"min": [0.33191901445388794, 0.13067509233951569, 0.9115630388259888, -1.2114726305007935, 1.2179827690124512, -1.2977375984191895, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3394877016544342, -0.29878270626068115, 0.8702182173728943, -1.0798306465148926, 1.2195466756820679, 0.47689199447631836, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.42232728004455566, 0.236829936504364, 1.0673242807388306, -0.22775888442993164, 2.0446982383728027, -0.9246692061424255, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.44716063141822815, -0.09329432994127274, 1.0651322603225708, 1.3805851936340332, 1.8023566007614136, 1.4778931140899658, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3634667694568634, 0.17876286804676056, 0.9674259424209595, -0.43998128175735474, 1.8154208660125732, -1.0522289276123047, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3741934895515442, -0.20064234733581543, 0.9919023513793945, 0.47199422121047974, 1.5595409870147705, 1.1160473823547363, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.020329518243670464, 0.03299122676253319, 0.038050707429647446, 0.2665390968322754, 0.2060474157333374, 0.08887205272912979, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.02265678346157074, 0.057189855724573135, 0.05951603874564171, 0.8207456469535828, 0.15955761075019836, 0.33216410875320435, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [688]}, "action": {"min": [0.972735583782196, -0.879642128944397, -0.2310558557510376, 1.0031275749206543, -0.8808885216712952, -0.7699999809265137, 0.051484230905771255, 0.0, -0.2946540415287018, -0.02029910497367382, -0.04559065401554108, 0.0, 0.0, -0.1618598997592926, 0.0, 0.0, 0.0, -0.17553527653217316, 0.0, 0.0, 0.0, -0.09895012527704239, 0.0, 0.0, -9.560774394401506e-09, 0.0, -0.11065858602523804, 0.0, 0.0, 0.8953654170036316, -0.9192380309104919, -0.23383620381355286, 0.9492465257644653, -2.168473720550537, -0.7651237845420837, -0.011696604080498219, 0.0, -0.291228711605072, 0.0, -0.14333704113960266, 0.0, 0.0, -0.163521409034729, 0.0, 0.0, 0.0, -0.11550159007310867, 0.0, 0.0, 0.0, -0.035798970609903336, 0.0, 0.0, -9.99999905104687e-09, -0.0008268162491731346, -0.005766427144408226, 0.0, 0.0, 0.5622998476028442, -1.1068999767303467, 0.5442000031471252, -1.035510638091968e-19, -0.017727190628647804, 8.194445092717021e-19, -0.7927048206329346], "max": [1.2969807386398315, -0.5379478931427002, -8.775088659601681e-19, 1.5700000524520874, 0.07497331500053406, -0.3001808822154999, 0.5199999809265137, 1.3717033863067627, 0.0, 0.3093551993370056, 0.1375906616449356, 0.30316027998924255, 0.6623877882957458, 0.01757078617811203, 0.44026046991348267, 0.5611017346382141, 0.8191191554069519, 0.008689741604030132, 0.41944125294685364, 0.34615400433540344, 0.5736773014068604, 0.09656788408756256, 0.3536953628063202, 0.48192113637924194, 0.15763947367668152, 0.10008955001831055, 0.04671304672956467, 0.7504714727401733, 1.3913971185684204, 1.3013910055160522, -0.5309491157531738, -0.0022485835943371058, 1.5682730674743652, 0.14045512676239014, -0.12597817182540894, 0.6571190357208252, 1.5703179836273193, 0.06270164996385574, 0.30631110072135925, 0.14144667983055115, 0.7600228190422058, 0.7775671482086182, 0.1399078220129013, 0.44872140884399414, 0.49695926904678345, 0.836883008480072, 0.15899109840393066, 0.7987260222434998, 0.39675748348236084, 0.9269991517066956, 0.16041742265224457, 0.4048233926296234, 0.5560570359230042, 0.044671572744846344, 0.17195367813110352, 0.13530288636684418, 0.7791538834571838, 1.3825864791870117, 0.5626999735832214, -1.106863021850586, 0.5535172820091248, 0.006536868400871754, 1.7766071459079702e-18, 0.19529487192630768, -0.6000000238418579], "mean": [1.079147219657898, -0.6796500086784363, -0.22192737460136414, 1.3110789060592651, -0.7004355788230896, -0.4259875416755676, 0.25874415040016174, 1.1703208684921265, -0.17714442312717438, 0.1728963404893875, 0.09268564730882645, 0.18055206537246704, 0.43637800216674805, -0.05247310549020767, 0.30782344937324524, 0.4333072900772095, 0.5213475227355957, -0.04783130809664726, 0.30145207047462463, 0.2703356146812439, 0.26310837268829346, 0.021441208198666573, 0.203668013215065, 0.2915091812610626, 0.04736519977450371, 0.04371056333184242, -0.030889539048075676, 0.3692595064640045, 1.0169059038162231, 1.1330045461654663, -0.6840729117393494, -0.22259363532066345, 1.278307557106018, -0.6483933925628662, -0.2993929088115692, 0.3681347966194153, 1.2460582256317139, -0.08146500587463379, 0.23473230004310608, -0.008618076331913471, 0.4036262035369873, 0.5352350473403931, 0.027094921097159386, 0.30244147777557373, 0.370601087808609, 0.45934686064720154, 0.07118506729602814, 0.5696340799331665, 0.29507720470428467, 0.4215151369571686, 0.10497036576271057, 0.22427822649478912, 0.3254430294036865, 0.004007402341812849, 0.05688067898154259, 0.07613413035869598, 0.4275036156177521, 0.9764133095741272, 0.5624067783355713, -1.1068686246871948, 0.5524502396583557, 0.004931108560413122, -0.012598877772688866, 0.07039205729961395, -0.747958242893219], "std": [0.06547879427671432, 0.09179849177598953, 0.03945469111204147, 0.14206846058368683, 0.26714378595352173, 0.12017951905727386, 0.13978110253810883, 0.2873438596725464, 0.08429444581270218, 0.12105240672826767, 0.046248678117990494, 0.04651260003447533, 0.2411978542804718, 0.060204923152923584, 0.13595619797706604, 0.17988263070583344, 0.3106476366519928, 0.05114506930112839, 0.12469231337308884, 0.10108286142349243, 0.2290809601545334, 0.057252250611782074, 0.14360778033733368, 0.19924387335777283, 0.05600864067673683, 0.038899701088666916, 0.05482377111911774, 0.2185220867395401, 0.5126833915710449, 0.12389186769723892, 0.09024683386087418, 0.03803480044007301, 0.13832563161849976, 0.7902241945266724, 0.11513179540634155, 0.24078959226608276, 0.3396744430065155, 0.09982006996870041, 0.06484012305736542, 0.10096847265958786, 0.2543576657772064, 0.2512947618961334, 0.08905220776796341, 0.10282725840806961, 0.12281645089387894, 0.3107367157936096, 0.07442765682935715, 0.1812366247177124, 0.07982063293457031, 0.36801010370254517, 0.046455610543489456, 0.13985256850719452, 0.22185157239437103, 0.01052698865532875, 0.05962748825550079, 0.03892050310969353, 0.2933279275894165, 0.4868738055229187, 4.842598718823865e-05, 7.22791810403578e-06, 0.0014500978868454695, 0.0008960145059973001, 0.0022073830477893353, 0.06516210734844208, 0.040695592761039734], "count": [688]}, "observation.state.tcp_pose": {"min": [0.33191901445388794, 0.13067509233951569, 0.9115630388259888, -1.2114726305007935, 1.2179827690124512, -1.2977375984191895, 0.3394877016544342, -0.29878270626068115, 0.8702182173728943, -1.0798306465148926, 1.2195466756820679, 0.47689199447631836], "max": [0.42232728004455566, 0.236829936504364, 1.0673242807388306, -0.22775888442993164, 2.0446982383728027, -0.9246692061424255, 0.44716063141822815, -0.09329432994127274, 1.0651322603225708, 1.3805851936340332, 1.8023566007614136, 1.4778931140899658], "mean": [0.3634667694568634, 0.17876286804676056, 0.9674259424209595, -0.43998128175735474, 1.8154208660125732, -1.0522289276123047, 0.3741934895515442, -0.20064234733581543, 0.9919023513793945, 0.47199422121047974, 1.5595409870147705, 1.1160473823547363], "std": [0.020329518243670464, 0.03299122676253319, 0.038050707429647446, 0.2665390968322754, 0.2060474157333374, 0.08887205272912979, 0.02265678346157074, 0.057189855724573135, 0.05951603874564171, 0.8207456469535828, 0.15955761075019836, 0.33216410875320435], "count": [688]}, "action.tcp_pose": {"min": [0.3325192332267761, 0.13066883385181427, 0.9113988280296326, -1.208855390548706, 1.2178406715393066, -1.299521565437317, 0.3395112156867981, -0.3001965880393982, 0.8698707818984985, -1.0798320770263672, 1.2198116779327393, 0.4771491587162018], "max": [0.4222576320171356, 0.23670174181461334, 1.0674296617507935, -0.2271931916475296, 2.0447845458984375, -0.9243050813674927, 0.44679179787635803, -0.09332497417926788, 1.0655832290649414, 1.3802205324172974, 1.802437424659729, 1.477527379989624], "mean": [0.36357277631759644, 0.1787644475698471, 0.9675434231758118, -0.4394497573375702, 1.8153324127197266, -1.0523934364318848, 0.37446293234825134, -0.20103669166564941, 0.9920395016670227, 0.4769980013370514, 1.5604132413864136, 1.117181420326233], "std": [0.0203691516071558, 0.032975368201732635, 0.038343481719493866, 0.26552513241767883, 0.20645034313201904, 0.08858996629714966, 0.02287738211452961, 0.05725277215242386, 0.05949783697724342, 0.8164793848991394, 0.1599212884902954, 0.33012112975120544], "count": [688]}, "subtask_index": {"min": [0], "max": [4], "mean": [1.8459302325581395], "std": [1.2813899411104395], "count": [688]}, "observation.tactile": {"min": [-1.8113881349563599, -4.995527706341818e-05, -0.00011667138460325077, -0.04194899648427963, -0.01208886131644249, -0.018783774226903915, -0.006934617646038532, -4.6963741624495015e-05, -0.00010597630898701027, -0.0011998236877843738, -5.160658110980876e-05, -0.0001827138476073742, -0.14060306549072266, -0.05394532531499863, -7.071855361573398e-05, -0.033106934279203415, -0.007921524345874786, -0.003288888605311513, -0.00751560227945447, -3.81701102014631e-05, -8.804142998997122e-05, -0.0006771927000954747, -4.184914723737165e-05, -0.0001549495937069878, -0.006775739137083292, -3.846536856144667e-05, -8.746605453779921e-05, -0.0008549748454242945, -0.00011771881690947339, -0.00013124178803991526, -0.004658740479499102, -3.607990583986975e-05, -7.994555926416069e-05, -0.11646483838558197, -1.4491861293208785e-06, -0.008416806347668171, -0.00983622670173645, -3.2263102184515446e-05, -7.135192572604865e-05, -0.0010419628815725446, -2.375274561927654e-05, -0.00019405738567002118, -1.6711256504058838, -4.3898369767703116e-05, -0.00010050473065348342, -0.03931402042508125, -0.0045486330054700375, -0.016792135313153267, -1.0109635591506958, -3.945106436731294e-05, -8.773893932811916e-05, -0.017897626385092735, -0.0007141302339732647, -0.01158822514116764, -0.01514971163123846, -0.11696159839630127, -0.0001239253324456513, -0.07098644971847534, -0.00014378993364516646, -0.000182711795787327], "max": [0.0003922891919501126, 0.8967651128768921, 3.6928486824035645, 2.150043656001799e-06, 0.00015062834427226335, 1.5834770238143392e-05, 0.004946948494762182, 0.01690307818353176, 0.05128815025091171, 1.9532403712219093e-06, 0.00014904329145792872, 5.065802906756289e-05, 2.4882454872131348, 2.075582981109619, 2.7470719814300537, 1.3189197716201306e-06, 0.0028711261693388224, 0.030745141208171844, 0.0009332951158285141, 0.010793455876410007, 0.03166439011693001, 1.6133355984493392e-06, 8.867181895766407e-05, 6.254248546611052e-06, 0.0011408855207264423, 0.01341388188302517, 0.03978957235813141, 1.6455543345728074e-06, 8.57129562064074e-05, 1.7686341379885562e-05, 4.190461158752441, 5.219073295593262, 10.617971420288086, 1.5285256722563645e-06, 0.037077587097883224, 0.03833647072315216, 0.01181783527135849, 0.019900502637028694, 0.056464940309524536, 1.3104739764457918e-06, 0.00018083435134030879, 0.000154156208736822, 0.7129917144775391, 2.8422794342041016, 4.709685802459717, 1.828469748943462e-06, 0.006299323868006468, 0.010690041817724705, 0.003266190877184272, 0.5946481823921204, 1.8095927238464355, 1.6205984820771846e-06, 0.004635061603039503, 8.322323992615566e-06, 3.3249728679656982, 9.843807220458984, 4.607568740844727, 2.284739593960694e-06, 0.013597071170806885, 0.03017723374068737], "mean": [-0.5619824528694153, 0.3177206516265869, 1.3315824270248413, -0.014847572892904282, -0.004298384301364422, -0.0051993029192090034, -0.00020368096011225134, 0.0010919013293460011, 0.0032172848004847765, -7.00698874425143e-05, -4.2612324335777885e-08, -4.828998953598784e-06, 0.37711143493652344, 0.4966709315776825, 1.0546717643737793, -0.011748558841645718, 0.00035045313416048884, 0.004014394246041775, -0.00016197279910556972, 0.0006031068041920662, 0.0017367569962516427, -3.53162431565579e-05, -1.2303280527703464e-06, -3.402623633519397e-06, -0.0001555148046463728, 0.0009691108134575188, 0.0028424831107258797, -5.555311145144515e-05, -3.0420021630561678e-06, -1.9803862869594013e-06, 0.7897514700889587, 1.220054268836975, 2.7132480144500732, -0.029473571106791496, 0.009527782909572124, 0.00444609671831131, -0.0001586701546330005, 0.001440808642655611, 0.004236083943396807, -7.32193875592202e-05, 8.582160262449179e-06, -5.073675310995895e-06, -0.31769368052482605, 0.44455036520957947, 1.0979642868041992, -0.00952928513288498, 0.0007440053741447628, -0.0029499453958123922, -0.11292251199483871, 0.07109335064888, 0.25773122906684875, -0.0025783150922507048, 0.000307307462207973, -0.0012131438124924898, 0.13699215650558472, 0.26354682445526123, 0.1679050326347351, -0.0027318873908370733, 0.0005088871112093329, 0.0014571741921827197], "std": [0.5966396331787109, 0.3386974632740021, 1.4710773229599, 0.01667623780667782, 0.004781622439622879, 0.0057001844979822636, 0.0010613756021484733, 0.0024973510298877954, 0.007307924330234528, 0.00016488858091179281, 1.7132175344158895e-05, 2.469090759404935e-05, 0.4782727062702179, 0.5372322201728821, 1.1314729452133179, 0.01226808037608862, 0.0010204296559095383, 0.0051969848573207855, 0.0009957171278074384, 0.0014928202144801617, 0.004275604151189327, 8.984579471871257e-05, 8.709460416866932e-06, 2.113086884492077e-05, 0.0009626247920095921, 0.002193154999986291, 0.00638538645580411, 0.00013113049499224871, 1.5064219951455016e-05, 1.8246604668092914e-05, 1.1581597328186035, 1.7580350637435913, 3.710756301879883, 0.040560394525527954, 0.01325061172246933, 0.008773076348006725, 0.0016346271149814129, 0.0029998216778039932, 0.008788788691163063, 0.000158329785335809, 2.7068472263636068e-05, 2.8623642720049247e-05, 0.5454901456832886, 0.6933887600898743, 1.5486509799957275, 0.013385164551436901, 0.0019568114075809717, 0.005500306375324726, 0.2227083295583725, 0.1390651911497116, 0.4971311092376709, 0.00492937071248889, 0.0008339040796272457, 0.0024339903611689806, 0.5557796359062195, 1.343605637550354, 0.7342427968978882, 0.011586506851017475, 0.0020663097966462374, 0.00535000953823328], "count": [688]}, "timestamp": {"min": [0.0], "max": [22.9], "mean": [11.450000000000001], "std": [6.620276093604825], "count": [688]}, "frame_index": {"min": [0], "max": [687], "mean": [343.5], "std": [198.60828280814474], "count": [688]}, "episode_index": {"min": [13], "max": [13], "mean": [13.0], "std": [0.0], "count": [688]}, "index": {"min": [9028], "max": [9715], "mean": [9371.5], "std": [198.60828280814474], "count": [688]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [688]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5338715314865112]], [[0.5334084630012512]], [[0.5353988409042358]]], "std": [[[0.28275933861732483]], [[0.2828347980976105]], [[0.2836911380290985]]], "count": [688]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.21876904368400574]], [[0.2184324413537979]], [[0.21389107406139374]]], "std": [[[0.1463000625371933]], [[0.14674142003059387]], [[0.14740672707557678]]], "count": [688]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2982063293457031]], [[0.2992718517780304]], [[0.29930368065834045]]], "std": [[[0.169147789478302]], [[0.17086394131183624]], [[0.17060436308383942]]], "count": [688]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5328346490859985]], [[0.5326622724533081]], [[0.5343836545944214]]], "std": [[[0.28669774532318115]], [[0.2868342399597168]], [[0.287641316652298]]], "count": [688]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.47058823704719543]], [[0.47058823704719543]], [[0.47058823704719543]]], "mean": [[[0.0014113776851445436]], [[0.0014113776851445436]], [[0.0014113776851445436]]], "std": [[[0.019582141190767288]], [[0.019582141190767288]], [[0.019582141190767288]]], "count": [688]}, "observation.images.tactile_raw": {"min": [[[0.0784313753247261]], [[0.0784313753247261]], [[0.0784313753247261]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.507961630821228]], [[0.507961630821228]], [[0.507961630821228]]], "std": [[[0.23645302653312683]], [[0.23645302653312683]], [[0.23645302653312683]]], "count": [688]}}}
+{"episode_index": 14, "stats": {"observation.state": {"min": [0.9023330807685852, -0.884266197681427, -0.23117786645889282, 1.0972332954406738, -0.9284695982933044, -0.7700462341308594, 0.17311176657676697, 0.009114432148635387, -0.2891378104686737, -0.03984867408871651, -0.09711871296167374, 0.010087314061820507, -0.007969766855239868, -0.16431169211864471, 0.01109994575381279, 0.006493041291832924, -0.0066909450106322765, -0.12097867578268051, 0.01394495740532875, 0.004634212702512741, -0.02476176805794239, -0.05068288743495941, 0.014245272614061832, 0.003977503161877394, 0.03715928643941879, 0.0002325579698663205, -0.03514861688017845, 0.010497896932065487, 0.00458144536241889, 0.9131848216056824, -0.8852390050888062, -0.23375147581100464, 0.8583089709281921, -2.065443515777588, -0.769166111946106, 0.013668247498571873, 0.012339156121015549, -0.2882918417453766, 0.006662848871201277, -0.13138186931610107, 0.014737759716808796, -0.01143851038068533, -0.16356544196605682, 0.008552055805921555, 0.00674845278263092, -0.012158997356891632, -0.06641415506601334, 0.015071048401296139, 0.0030445416923612356, -0.011586188338696957, -0.02316722646355629, 0.009565397165715694, 0.006132538430392742, 0.029462410137057304, -0.00722401263192296, -0.02645026706159115, 0.010484779253602028, 0.002116014016792178, 0.5621080994606018, -1.106863021850586, 0.5441796779632568, 0.0, -0.015723302960395813, -0.0001917476038215682, -0.7999709844589233], "max": [1.2616215944290161, -0.5455645322799683, 1.965412957360968e-05, 1.5700092315673828, 0.08228643983602524, -0.42112088203430176, 0.5200289487838745, 1.290400505065918, -0.0037840993609279394, 0.297108918428421, 0.14887861907482147, 0.22941458225250244, 0.6649501323699951, 0.04341988265514374, 0.48929497599601746, 0.5757336020469666, 0.8715503215789795, 0.05082125589251518, 0.40724489092826843, 0.3375583291053772, 0.7629801034927368, 0.08178504556417465, 0.3657379746437073, 0.41598567366600037, 0.2662363350391388, 0.13964584469795227, 0.04878195375204086, 0.6799005270004272, 1.3029729127883911, 1.3030483722686768, -0.44928473234176636, -0.00032489231671206653, 1.5697505474090576, 0.24202801287174225, -0.07836136966943741, 0.6610448956489563, 1.508081316947937, 0.008389375172555447, 0.33707237243652344, 0.14186860620975494, 0.6878150701522827, 0.6354979872703552, 0.12463628500699997, 0.4520038664340973, 0.5632002949714661, 0.7206079363822937, 0.14704672992229462, 0.5827683806419373, 0.3315987288951874, 0.7663831114768982, 0.15431953966617584, 0.40358367562294006, 0.7945854663848877, 0.0474817231297493, 0.18924272060394287, 0.13052530586719513, 0.8072673082351685, 1.2916784286499023, 0.5626833438873291, -1.106767177581787, 0.553575336933136, 0.0057524279691278934, 0.0, 0.20411531627178192, -0.5998823642730713], "mean": [1.0173016786575317, -0.6898556351661682, -0.218845933675766, 1.339324712753296, -0.6380325555801392, -0.5626164674758911, 0.3323014974594116, 1.0982203483581543, -0.2310190051794052, 0.18540515005588531, 0.030295128002762794, 0.1894090175628662, 0.44254258275032043, -0.03317594155669212, 0.3234862983226776, 0.4075610339641571, 0.502467691898346, -0.02422376535832882, 0.23248369991779327, 0.2189692258834839, 0.3708820044994354, 0.019977133721113205, 0.21557873487472534, 0.24588635563850403, 0.1757814586162567, 0.06750093400478363, -0.002346660243347287, 0.392168253660202, 0.9625639319419861, 1.141833782196045, -0.6592069864273071, -0.21832308173179626, 1.275543451309204, -0.6592560410499573, -0.25990286469459534, 0.3893706798553467, 1.2337698936462402, -0.13557586073875427, 0.2084454745054245, -0.02211245521903038, 0.4081982374191284, 0.443208783864975, 0.03367241099476814, 0.28680622577667236, 0.3950367569923401, 0.44118446111679077, 0.05852442607283592, 0.3678695261478424, 0.2654366195201874, 0.3879256546497345, 0.08162056654691696, 0.21907058358192444, 0.43151307106018066, 0.03241164982318878, 0.07682311534881592, 0.05858021602034569, 0.4147648811340332, 0.7907100319862366, 0.5623146891593933, -1.1068671941757202, 0.5523393750190735, 0.004768679849803448, -0.012286528013646603, 0.07173782587051392, -0.7571787238121033], "std": [0.08757524937391281, 0.08221373707056046, 0.04642970860004425, 0.12215438485145569, 0.2972147464752197, 0.07071194797754288, 0.12052495032548904, 0.3026903569698334, 0.05970638245344162, 0.10783161222934723, 0.060594215989112854, 0.04579015076160431, 0.24872368574142456, 0.06712121516466141, 0.14251333475112915, 0.18004682660102844, 0.3622724711894989, 0.05958859249949455, 0.12903931736946106, 0.11963356286287308, 0.33191385865211487, 0.045321155339479446, 0.15475746989250183, 0.17862728238105774, 0.060240488499403, 0.05308176949620247, 0.03692810609936714, 0.252299964427948, 0.5330459475517273, 0.12469236552715302, 0.08430220931768417, 0.04247382655739784, 0.1800326406955719, 0.7627000212669373, 0.13039858639240265, 0.25537019968032837, 0.34624260663986206, 0.07716479897499084, 0.06797584891319275, 0.09922722727060318, 0.2344491183757782, 0.21458123624324799, 0.08769899606704712, 0.09945302456617355, 0.1297527402639389, 0.27081382274627686, 0.07304838299751282, 0.17500631511211395, 0.09179753810167313, 0.34258541464805603, 0.06258904188871384, 0.15777671337127686, 0.3444073498249054, 0.005613602697849274, 0.07672158628702164, 0.05663339048624039, 0.3056669235229492, 0.521820068359375, 9.195098391501233e-05, 1.0730781468737405e-05, 0.001755608944222331, 0.00108060403726995, 0.0026855431497097015, 0.06851183623075485, 0.045400992035865784], "count": [613]}, "observation.state.joint_torque": {"min": [-31.76099967956543, -6.54449987411499, -17.58099937438965, -7.013999938964844, -0.11680000275373459, -1.3015999794006348, 1.041599988937378, -0.8901957273483276, -0.31456127762794495, -0.5231723189353943, -0.6126459240913391, -0.06474998593330383, -0.48165106773376465, -0.7397469282150269, -0.09463459998369217, -0.04066966846585274, -0.3530828058719635, -0.7100035548210144, -0.1411217600107193, -0.020691584795713425, -0.34252873063087463, -0.39625874161720276, -0.17100638151168823, -0.046377696096897125, -0.08004379272460938, -0.3789883553981781, -0.3857046067714691, -0.14776279032230377, -0.05351272225379944, 18.246000289916992, -12.914999961853027, 5.752999782562256, -8.996000289916992, -1.9728000164031982, -1.8392000198364258, -3.0136001110076904, -1.2429629564285278, -0.7399194836616516, -0.2721490263938904, -0.6499266028404236, -0.09297433495521545, -0.37802889943122864, -0.6159760355949402, -0.09297433495521545, -0.03068062849342823, -0.37994781136512756, -0.6150165796279907, -0.14776279032230377, -0.028540121391415596, -0.2561769485473633, -0.9546669125556946, -0.1328205019235611, -0.033534638583660126, -0.09015922993421555, -0.36747482419013977, -0.555529773235321, -0.220814049243927, -0.20905636250972748, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-18.402000427246094, 18.970500946044922, -7.873000144958496, 5.942999839782715, 1.940000057220459, 1.9615999460220337, 3.1287999153137207, 1.5180448293685913, 2.522857904434204, 0.8611838221549988, 1.241446852684021, 0.0979551151394844, 1.1235326528549194, 0.42696163058280945, 0.20919226109981537, 0.05351272225379944, 0.9364371299743652, 0.4173669219017029, 0.11787818372249603, 0.03068062849342823, 0.2983933389186859, 0.3012717664241791, 0.167685866355896, 0.02497260272502899, 0.047498516738414764, 0.34444767236709595, 0.3511638939380646, 0.1411217600107193, 0.046377696096897125, 48.20399856567383, 19.456499099731445, 22.783000946044922, 5.564000129699707, 0.6055999994277954, 2.7311999797821045, 0.7720000147819519, 1.2493305206298828, 2.3509318828582764, 1.2886691093444824, 0.7853798270225525, 0.45324990153312683, 1.0093562602996826, 0.3761099576950073, 0.1411217600107193, 0.0321076326072216, 1.0352619886398315, 0.644760012626648, 0.388499915599823, 0.03781566023826599, 1.3144659996032715, 0.29935282468795776, 0.15274357795715332, 0.07349080592393875, 0.021990053355693817, 0.33485299348831177, 0.5468946099281311, 0.1411217600107193, 0.16053816676139832, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-25.3533992767334, 2.392988443374634, -12.387906074523926, -3.9701454639434814, 0.6362007260322571, 0.7923917174339294, 1.9821761846542358, 0.6378814578056335, 1.1079895496368408, 0.36396023631095886, 0.2582767605781555, 0.02886083349585533, 0.43990567326545715, 0.08605287224054337, 0.04123016819357872, -0.002539742039516568, 0.37599724531173706, 0.014878697693347931, 0.01158385630697012, 0.00011522536806296557, 0.06955887377262115, 0.04204891249537468, -0.018086781725287437, 0.004548714496195316, -0.024465277791023254, -0.025044569745659828, 0.025911865755915642, 0.014915218576788902, 0.0033801128156483173, 26.746492385864258, 2.145480155944824, 12.746837615966797, -2.613434076309204, -0.34116169810295105, 0.5448506474494934, -1.3495473861694336, 0.23550492525100708, 0.7400957942008972, 0.47946760058403015, -0.08119454234838486, 0.10072576999664307, 0.17141225934028625, -0.00769919715821743, 0.03304257616400719, -0.00015247796545736492, 0.1853017807006836, -0.07003151625394821, 0.09407939016819, -0.0011697732843458652, 0.4359291195869446, -0.17604999244213104, 0.0043930355459451675, 0.014834568835794926, -0.03830285742878914, -0.025675445795059204, -0.04029437527060509, 0.019519498571753502, 0.005147007759660482, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.6624112129211426, 1.901755452156067, 1.3348169326782227, 1.2540169954299927, 0.33929750323295593, 0.48790305852890015, 0.4411134719848633, 0.7241460084915161, 1.1478424072265625, 0.44068068265914917, 0.363681435585022, 0.04459438845515251, 0.46285077929496765, 0.2264493703842163, 0.05417446419596672, 0.011926294304430485, 0.43668225407600403, 0.17563071846961975, 0.06328552961349487, 0.008444802835583687, 0.17038209736347198, 0.15897759795188904, 0.04855261370539665, 0.012041890062391758, 0.02746734768152237, 0.21514534950256348, 0.13429851830005646, 0.06209486350417137, 0.01066934410482645, 2.339683771133423, 2.289350986480713, 2.119871139526367, 1.2373968362808228, 0.44526827335357666, 0.9940364956855774, 0.9162566065788269, 0.6577545404434204, 0.8796629905700684, 0.5530269742012024, 0.33178645372390747, 0.1823340654373169, 0.29712727665901184, 0.1971258670091629, 0.04208538308739662, 0.010213445872068405, 0.32289043068885803, 0.2341764271259308, 0.1212049350142479, 0.009300419129431248, 0.5322868227958679, 0.29921674728393555, 0.07079101353883743, 0.02422872744500637, 0.021022722125053406, 0.1570921689271927, 0.2213526964187622, 0.057178985327482224, 0.020756524056196213, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [613]}, "observation.state.tcp": {"min": [0.3197123408317566, 0.13799676299095154, 0.8863387107849121, -1.2111399173736572, 1.21773362159729, -1.382488489151001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3502464294433594, -0.2649846374988556, 0.8776805996894836, -1.0828033685684204, 1.1687731742858887, 0.5245791077613831, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4049038290977478, 0.25119540095329285, 1.059546947479248, -0.19911399483680725, 1.8910213708877563, -0.9438800811767578, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4331222176551819, -0.08305125683546066, 1.0725239515304565, 1.2591397762298584, 1.868087887763977, 1.71724271774292, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.34296679496765137, 0.18135973811149597, 0.9508600234985352, -0.5322582721710205, 1.7125736474990845, -1.0631970167160034, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.37614232301712036, -0.188009575009346, 0.9968358278274536, 0.41894710063934326, 1.5761317014694214, 1.1516368389129639, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.021409109234809875, 0.032681554555892944, 0.04862954840064049, 0.2753675878047943, 0.18165089190006256, 0.09634076803922653, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01902827061712742, 0.054835982620716095, 0.060478221625089645, 0.805823802947998, 0.18361115455627441, 0.3393109440803528, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [613]}, "action": {"min": [0.902364194393158, -0.8843399286270142, -0.2311517298221588, 1.0971797704696655, -0.9284418821334839, -0.7699999809265137, 0.17305220663547516, 0.0, -0.29605162143707275, -0.03515072539448738, -0.11682400852441788, 0.0, 0.0, -0.17058731615543365, 0.0, 0.0, 0.0, -0.12648147344589233, 0.0, 0.0, 0.0, -0.10811315476894379, 0.0, 0.0, 0.0, 0.0, -0.1322306990623474, 0.0, 0.0, 0.913197934627533, -0.8855863213539124, -0.23374032974243164, 0.857974648475647, -2.0654094219207764, -0.7688944339752197, 0.013614079914987087, 0.0, -0.2887875735759735, 0.0, -0.14225034415721893, 0.0, 0.0, -0.17321975529193878, 0.0, 0.0, 0.0, -0.08149028569459915, 0.0, 0.0, 0.0, -0.049365513026714325, 0.0, 0.0, -9.89787807270659e-09, -0.0002673607086762786, -0.08137324452400208, 0.0, 0.0, 0.5622998476028442, -1.1068999767303467, 0.5442000031471252, -9.697390518954332e-21, -0.017235061153769493, -0.0012840506387874484, -0.8001024127006531], "max": [1.2616033554077148, -0.5455219149589539, 5.700728273134984e-17, 1.5700000524520874, 0.08225972205400467, -0.4206942319869995, 0.5199999809265137, 1.3660902976989746, 0.0, 0.3817324936389923, 0.14846767485141754, 0.2464250922203064, 0.7864633798599243, 0.06447882950305939, 0.5402852296829224, 0.5934767723083496, 0.9867504835128784, 0.05459712818264961, 0.4297278821468353, 0.3553188443183899, 0.7744541168212891, 0.09013177454471588, 0.38305366039276123, 0.43116694688796997, 0.26180002093315125, 0.14048953354358673, 0.05899248644709587, 0.6957873106002808, 1.378187894821167, 1.3030208349227905, -0.44926464557647705, -0.0005403048126026988, 1.569374918937683, 0.242189422249794, -0.07784952968358994, 0.6612415909767151, 1.5676896572113037, 0.06641426682472229, 0.33576053380966187, 0.14396950602531433, 0.76713627576828, 0.7264605760574341, 0.1376507580280304, 0.48750540614128113, 0.5747896432876587, 0.8097730278968811, 0.15119172632694244, 0.6068437099456787, 0.34607934951782227, 0.9636675715446472, 0.1451236754655838, 0.4284345805644989, 0.8137282729148865, 0.04183412715792656, 0.1906806379556656, 0.1326054036617279, 0.8220078349113464, 1.3588398694992065, 0.5626999735832214, -1.106863021850586, 0.5545257925987244, 0.006416060030460358, -1.3110931616178543e-19, 0.20436784625053406, -0.6000000238418579], "mean": [1.017490267753601, -0.6899686455726624, -0.2188473790884018, 1.3394348621368408, -0.6374677419662476, -0.5627776980400085, 0.33234214782714844, 1.1289535760879517, -0.17544801533222198, 0.23307673633098602, 0.04038703069090843, 0.19687709212303162, 0.5042217969894409, -0.02957327477633953, 0.3315941095352173, 0.4019993841648102, 0.5553793907165527, -0.023539051413536072, 0.2344917207956314, 0.21811990439891815, 0.3746397793292999, 0.009128459729254246, 0.2114204615354538, 0.25130513310432434, 0.1641736626625061, 0.06488858163356781, -0.03573154658079147, 0.3966454565525055, 0.9940847754478455, 1.1423262357711792, -0.6596940755844116, -0.2183641791343689, 1.2758585214614868, -0.6529343724250793, -0.26046332716941833, 0.38953524827957153, 1.2451318502426147, -0.09688490629196167, 0.2686462998390198, -0.025529835373163223, 0.4339745044708252, 0.4676699936389923, 0.03496361896395683, 0.2970655858516693, 0.39675888419151306, 0.46715158224105835, 0.05581923946738243, 0.3912213146686554, 0.2636450231075287, 0.45866888761520386, 0.07236498594284058, 0.22191162407398224, 0.44834181666374207, 0.003779864404350519, 0.07520211488008499, 0.05377265810966492, 0.4230839014053345, 0.8112671375274658, 0.5623209476470947, -1.106868028640747, 0.5523791909217834, 0.004808894358575344, -0.012318113818764687, 0.07175268977880478, -0.757110595703125], "std": [0.08806800842285156, 0.08226121217012405, 0.04661814868450165, 0.12230084836483002, 0.29751089215278625, 0.07116670906543732, 0.12059830129146576, 0.3322431445121765, 0.09096884727478027, 0.1583458036184311, 0.061852313578128815, 0.0548357218503952, 0.3106987178325653, 0.07549083232879639, 0.15741631388664246, 0.185538187623024, 0.4214191734790802, 0.06402592360973358, 0.14336204528808594, 0.1273176223039627, 0.33894190192222595, 0.06983544677495956, 0.15832750499248505, 0.1886090338230133, 0.07037794589996338, 0.056805387139320374, 0.07531983405351639, 0.2680799961090088, 0.5818930864334106, 0.12450210005044937, 0.0846644788980484, 0.04252171516418457, 0.17959260940551758, 0.7591387629508972, 0.13105449080467224, 0.25537484884262085, 0.3681756556034088, 0.11058186739683151, 0.07668507844209671, 0.10324622690677643, 0.2752823531627655, 0.23391900956630707, 0.08960406482219696, 0.10864946991205215, 0.1350826770067215, 0.2961793839931488, 0.07198914885520935, 0.19934530556201935, 0.09680931270122528, 0.417123943567276, 0.06011446565389633, 0.1706337332725525, 0.36162158846855164, 0.008049513213336468, 0.0764564499258995, 0.06490496546030045, 0.31371936202049255, 0.5326276421546936, 8.491308108204976e-05, 7.82104234531289e-06, 0.0018428621115162969, 0.0011275735450908542, 0.0028258138336241245, 0.06859856098890305, 0.045981161296367645], "count": [613]}, "observation.state.tcp_pose": {"min": [0.3197123408317566, 0.13799676299095154, 0.8863387107849121, -1.2111399173736572, 1.21773362159729, -1.382488489151001, 0.3502464294433594, -0.2649846374988556, 0.8776805996894836, -1.0828033685684204, 1.1687731742858887, 0.5245791077613831], "max": [0.4049038290977478, 0.25119540095329285, 1.059546947479248, -0.19911399483680725, 1.8910213708877563, -0.9438800811767578, 0.4331222176551819, -0.08305125683546066, 1.0725239515304565, 1.2591397762298584, 1.868087887763977, 1.71724271774292], "mean": [0.34296679496765137, 0.18135973811149597, 0.9508600234985352, -0.5322582721710205, 1.7125736474990845, -1.0631970167160034, 0.37614232301712036, -0.188009575009346, 0.9968358278274536, 0.41894710063934326, 1.5761317014694214, 1.1516368389129639], "std": [0.021409109234809875, 0.032681554555892944, 0.04862954840064049, 0.2753675878047943, 0.18165089190006256, 0.09634076803922653, 0.01902827061712742, 0.054835982620716095, 0.060478221625089645, 0.805823802947998, 0.18361115455627441, 0.3393109440803528], "count": [613]}, "action.tcp_pose": {"min": [0.31965282559394836, 0.13801322877407074, 0.8859813213348389, -1.208855390548706, 1.2178406715393066, -1.381542682647705, 0.35000860691070557, -0.2670849859714508, 0.8774325847625732, -1.082942247390747, 1.167914867401123, 0.5249775648117065], "max": [0.4048830568790436, 0.2505316734313965, 1.060024619102478, -0.19915975630283356, 1.890978217124939, -0.9436221718788147, 0.432974636554718, -0.08313784748315811, 1.0727778673171997, 1.2597466707229614, 1.8677139282226562, 1.7174139022827148], "mean": [0.3430139124393463, 0.1813935786485672, 0.9509314894676208, -0.5327886343002319, 1.71236252784729, -1.063157320022583, 0.3763332664966583, -0.1883411854505539, 0.9970227479934692, 0.4254598319530487, 1.5764888525009155, 1.1536524295806885], "std": [0.021420182660222054, 0.032612696290016174, 0.04882381111383438, 0.27578315138816833, 0.18193240463733673, 0.09609407186508179, 0.019212007522583008, 0.05488406494259834, 0.06034139171242714, 0.8021959662437439, 0.1843339055776596, 0.33681395649909973], "count": [613]}, "subtask_index": {"min": [0], "max": [4], "mean": [1.936378466557912], "std": [1.3264277974271854], "count": [613]}, "observation.tactile": {"min": [-0.021761922165751457, -4.864689981332049e-05, -0.00011184409959241748, -0.0015029354253783822, -0.0001669354533078149, -0.000383352511562407, -0.005030952859669924, -4.2920855776173994e-05, -9.68293534242548e-05, -0.001326109399087727, -2.3735616196063347e-05, -0.0001427149400115013, -0.2321680784225464, -3.188964183209464e-05, -6.842659786343575e-05, -0.019809633493423462, -0.0017944829305633903, -0.0037282344419509172, -0.015550479292869568, -3.182895670761354e-05, -7.170896424213424e-05, -0.0011378542985767126, -5.8937577705364674e-05, -0.0003242815437261015, -0.003710188204422593, -0.006599136162549257, -0.00010391657997388393, -0.009686042554676533, -7.113522588042542e-05, -3.677407221402973e-05, -0.003646556753665209, -3.84182931156829e-05, -8.486281149089336e-05, -0.120489701628685, -4.6594173909397796e-05, -0.005345669109374285, -0.010077518410980701, -3.4885455534094945e-05, -7.615942013217136e-05, -0.001456632511690259, -4.0580594941275194e-05, -0.00023503834381699562, -0.005507833324372768, -4.369351518107578e-05, -0.0001009249608614482, -0.0012859655544161797, -1.3819349987898022e-05, -0.0001450088748242706, -1.0314514636993408, -3.621137875597924e-05, -8.122174040181562e-05, -0.026785723865032196, -0.0027099973522126675, -0.01253605354577303, -0.003700462868437171, -0.39696943759918213, -0.3631896674633026, -0.05533406138420105, -2.8235343052074313e-05, -7.544711115770042e-05], "max": [0.020566407591104507, 0.027093270793557167, 0.07750445604324341, 2.0819772998947883e-06, 0.00046231274609453976, 0.0002522241265978664, 0.0003448669449426234, 0.020153475925326347, 0.05699996277689934, 1.771620986801281e-06, 8.82840613485314e-05, 7.129723144316813e-06, 0.6980339288711548, 1.242976188659668, 2.192502498626709, 1.2506626489994233e-06, 0.00384265324100852, 0.006925615016371012, 0.004928785376250744, 0.017287740483880043, 0.05124406889081001, 1.3110899317325675e-06, 0.0002749653358478099, 5.402249371400103e-06, 0.5943576097488403, 0.2194328010082245, 0.41169315576553345, 1.952013690242893e-06, 0.0024783392436802387, 0.013025609776377678, 4.6272735595703125, 4.724483013153076, 10.771392822265625, 1.6202100141526898e-06, 0.04005827009677887, 0.04204835742712021, 0.03065631166100502, 0.022416796535253525, 0.07811421155929565, 1.3767355540039716e-06, 0.0004069169226568192, 0.00046077085426077247, 0.006946844980120659, 0.018933843821287155, 0.05407048016786575, 1.859793883340899e-06, 0.0002532642101868987, 7.054300658637658e-05, 0.11348319798707962, 1.4912625551223755, 2.469743013381958, 1.5027311519588693e-06, 0.0027711912989616394, 0.0022668074816465378, 2.789590358734131, 1.888461709022522, 3.4292964935302734, 0.008124538697302341, 0.014148326590657234, 0.04302414879202843], "mean": [0.0006985500222072005, 0.002672043861821294, 0.007648915518075228, -0.00014409096911549568, 3.756797741516493e-05, 1.0272902954966412e-06, 5.6180004321504384e-05, 0.0006068804650567472, 0.0018183537758886814, -4.08784908358939e-05, 1.0802029919432243e-06, -6.453667822370335e-08, 0.01624736376106739, 0.20221687853336334, 0.42155131697654724, -0.003924295771867037, 0.0006105864886194468, -0.00011738727334886789, -0.0007988546276465058, 0.001556786592118442, 0.0043900394812226295, -8.817001071292907e-05, -2.5819463189691305e-06, -1.6223637430812232e-05, 0.06706365942955017, 0.02107459492981434, 0.052286673337221146, -0.001205421518534422, 0.0002883909619413316, 0.0014384845271706581, 0.8529523611068726, 1.5373133420944214, 3.65628981590271, -0.040322721004486084, 0.014383835718035698, 0.003658333094790578, -9.771028271643445e-05, 0.0027140637394040823, 0.00804908573627472, -0.0001393784914398566, 2.0788031179108657e-05, -7.198789262474747e-06, -0.0003665115509647876, 0.0029824962839484215, 0.008803495205938816, -0.00016032955318223685, 3.2201285648625344e-05, -1.6795464034657925e-05, -0.15954336524009705, 0.1299932599067688, 0.31437885761260986, -0.0035085678100585938, 0.00024576688883826137, -0.0018385343719273806, 0.10525384545326233, 0.032114434987306595, 0.05945823714137077, -0.0010455938754603267, 0.000288993411231786, 0.0018813430797308683], "std": [0.002661402802914381, 0.005454042460769415, 0.015541604720056057, 0.0003026310005225241, 9.45782958297059e-05, 3.1995146855479106e-05, 0.0008036796934902668, 0.002182150725275278, 0.006424172315746546, 0.00014682945038657635, 1.2360559594526421e-05, 2.0916184439556673e-05, 0.10883407294750214, 0.3494347631931305, 0.6964952945709229, 0.00637748884037137, 0.001153414836153388, 0.0011918613454326987, 0.0017637979472056031, 0.002791036618873477, 0.007917323149740696, 0.00015995805733837187, 1.7149604900623672e-05, 3.6080928111914545e-05, 0.08587304502725601, 0.027193691581487656, 0.06226035952568054, 0.0014562768628820777, 0.0003666681586764753, 0.0018506423803046346, 1.1336278915405273, 1.7055584192276, 3.9945313930511475, 0.044227294623851776, 0.01591041497886181, 0.008642607368528843, 0.0026185219176113605, 0.0035503627732396126, 0.010736575350165367, 0.0002026674774242565, 4.123801409150474e-05, 4.2362426029285416e-05, 0.0009131637634709477, 0.00332969194278121, 0.00979022029787302, 0.00019350969523657113, 4.5366101403487846e-05, 2.2502694264403544e-05, 0.2714061141014099, 0.2935105264186859, 0.5679263472557068, 0.006215759087353945, 0.0007394958520308137, 0.003178570419549942, 0.39481955766677856, 0.20750077068805695, 0.30870696902275085, 0.005328299477696419, 0.0013363818870857358, 0.007115790620446205], "count": [613]}, "timestamp": {"min": [0.0], "max": [20.4], "mean": [10.2], "std": [5.898587401516852], "count": [613]}, "frame_index": {"min": [0], "max": [612], "mean": [306.0], "std": [176.95762204550556], "count": [613]}, "episode_index": {"min": [14], "max": [14], "mean": [14.0], "std": [0.0], "count": [613]}, "index": {"min": [9716], "max": [10328], "mean": [10022.0], "std": [176.95762204550556], "count": [613]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [613]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5351619720458984]], [[0.5347691774368286]], [[0.5370599031448364]]], "std": [[[0.2821621596813202]], [[0.28235429525375366]], [[0.28353849053382874]]], "count": [613]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.22010910511016846]], [[0.21980907022953033]], [[0.2150377631187439]]], "std": [[[0.14881591498851776]], [[0.14932626485824585]], [[0.15061907470226288]]], "count": [613]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29909035563468933]], [[0.2997127175331116]], [[0.3003174960613251]]], "std": [[[0.17015810310840607]], [[0.17140069603919983]], [[0.17165052890777588]]], "count": [613]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5335176587104797]], [[0.5333752632141113]], [[0.5353297591209412]]], "std": [[[0.28609782457351685]], [[0.286272794008255]], [[0.28731635212898254]]], "count": [613]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.4941176474094391]], [[0.4941176474094391]], [[0.4941176474094391]]], "mean": [[[0.0009620218188501894]], [[0.0009620218188501894]], [[0.0009620218188501894]]], "std": [[[0.017841307446360588]], [[0.017841307446360588]], [[0.017841307446360588]]], "count": [613]}, "observation.images.tactile_raw": {"min": [[[0.08235294371843338]], [[0.08235294371843338]], [[0.08235294371843338]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5083562731742859]], [[0.5083562731742859]], [[0.5083562731742859]]], "std": [[[0.23617660999298096]], [[0.23617660999298096]], [[0.23617660999298096]]], "count": [613]}}}
+{"episode_index": 15, "stats": {"observation.state": {"min": [0.9480743408203125, -0.823374330997467, -0.2313561737537384, 1.1436243057250977, -0.956172525882721, -0.7700475454330444, 0.1040133684873581, 0.010067323222756386, -0.28918221592903137, -0.04252362623810768, -0.03613351657986641, 0.022059837356209755, 0.02252155914902687, -0.15061728656291962, 0.01130133680999279, 0.012962581589818, -0.0052558546885848045, -0.16554023325443268, 0.013950985856354237, 0.009149144403636456, 0.0005308592226356268, -0.041312627494335175, 0.014313348568975925, 0.0073705753311514854, 0.03237268701195717, 0.013919862918555737, -0.03560907021164894, 0.010386209934949875, 0.0035531476605683565, 0.9227694272994995, -0.9009509086608887, -0.23358117043972015, 0.9315914511680603, -2.392836570739746, -0.848585844039917, -0.0030477081891149282, 0.012351984158158302, -0.28300705552101135, 0.022281279787421227, -0.1410871148109436, 0.014846610836684704, 0.0012302506947889924, -0.13345901668071747, 0.009051281027495861, 0.009663958102464676, 0.008372573181986809, -0.08975972980260849, 0.010491869412362576, 0.006302813068032265, -0.007742851972579956, 0.003214607248082757, 0.01013127900660038, 0.010530850850045681, 0.0223927590996027, -0.01227601245045662, -0.030841635540127754, 0.010734036564826965, 0.007699594832956791, 0.5621080994606018, -1.1069588661193848, 0.5442755818367004, 9.58738019107841e-05, -0.014668690972030163, -9.58738019107841e-05, -0.8402379751205444], "max": [1.2486670017242432, -0.5870701670646667, 1.2463593520806171e-05, 1.5700414180755615, 0.045673198997974396, -0.38023945689201355, 0.520032525062561, 1.2939701080322266, -0.002326939720660448, 0.2628340423107147, 0.1313021332025528, 0.17136803269386292, 0.6293905973434448, 0.09342275559902191, 0.47776782512664795, 0.5570947527885437, 0.8397961258888245, 0.06846055388450623, 0.38343459367752075, 0.3228367269039154, 0.7537825703620911, 0.07372967153787613, 0.369760125875473, 0.4934973120689392, 0.15033471584320068, 0.16329142451286316, 0.010895630344748497, 0.8996582627296448, 1.3327336311340332, 1.2838709354400635, -0.5159341096878052, -0.0019485150696709752, 1.5678070783615112, 0.29811275005340576, -0.029063664376735687, 0.6353189945220947, 1.513408899307251, 0.007776699960231781, 0.4942536950111389, 0.14391623437404633, 0.8107693195343018, 0.5480836629867554, 0.12203913182020187, 0.738369345664978, 0.6736657619476318, 0.6651794910430908, 0.14400631189346313, 0.9891601800918579, 0.3279404640197754, 0.6580160856246948, 0.1551864743232727, 0.7058258056640625, 1.228864073753357, 0.08647237718105316, 0.223744198679924, 0.12549415230751038, 0.795881986618042, 1.3018962144851685, 0.5626833438873291, -1.106767177581787, 0.55328768491745, 0.0057524279691278934, 0.0, 0.17717477679252625, -0.600649356842041], "mean": [1.0434553623199463, -0.6751312613487244, -0.221744105219841, 1.3515642881393433, -0.7182245850563049, -0.5242520570755005, 0.254562646150589, 1.1592179536819458, -0.22879278659820557, 0.12916713953018188, 0.07249703258275986, 0.1639396697282791, 0.5149673223495483, -0.003837111173197627, 0.36745932698249817, 0.4492061138153076, 0.5920847058296204, -0.012206912972033024, 0.284445196390152, 0.2621364891529083, 0.4478287100791931, 0.02772909589111805, 0.2752269208431244, 0.37376338243484497, 0.09259103983640671, 0.08282290399074554, -0.014735937118530273, 0.6330744028091431, 0.9091848134994507, 1.1363496780395508, -0.6735226511955261, -0.2226525843143463, 1.2573012113571167, -0.9145698547363281, -0.419653981924057, 0.34989070892333984, 1.2092201709747314, -0.18492183089256287, 0.339448481798172, -0.02151106297969818, 0.41825082898139954, 0.39837267994880676, 0.002289270516484976, 0.49308648705482483, 0.42726147174835205, 0.40286463499069214, 0.05093294009566307, 0.49683383107185364, 0.25803107023239136, 0.3294696509838104, 0.08735334128141403, 0.243398979306221, 0.5057578682899475, 0.04441813752055168, 0.06062588468194008, 0.04072054475545883, 0.37909647822380066, 0.8602672815322876, 0.5623071789741516, -1.1068675518035889, 0.5523983240127563, 0.004818054847419262, -0.012504982762038708, 0.0848279520869255, -0.7835589051246643], "std": [0.0625843033194542, 0.07253482937812805, 0.04044700786471367, 0.09127426147460938, 0.28997868299484253, 0.06508749723434448, 0.136138454079628, 0.2730422616004944, 0.05003991723060608, 0.051285069435834885, 0.04289289563894272, 0.028309689834713936, 0.15388737618923187, 0.07512655109167099, 0.08943153917789459, 0.0991574376821518, 0.269842267036438, 0.0662878155708313, 0.08990049362182617, 0.07962080836296082, 0.28383028507232666, 0.0370507575571537, 0.11914627999067307, 0.1604531854391098, 0.037280112504959106, 0.0602482371032238, 0.016004405915737152, 0.28955644369125366, 0.3873651325702667, 0.10405336320400238, 0.09669767320156097, 0.037523720413446426, 0.14013172686100006, 1.0093501806259155, 0.25053003430366516, 0.250924676656723, 0.3288780748844147, 0.06008774787187576, 0.09565966576337814, 0.10277137160301208, 0.27998054027557373, 0.1628110259771347, 0.0761713832616806, 0.19147303700447083, 0.13775351643562317, 0.23327596485614777, 0.057940706610679626, 0.2477293759584427, 0.07019952684640884, 0.27638328075408936, 0.05117509514093399, 0.16941997408866882, 0.3979519009590149, 0.018109384924173355, 0.06976917386054993, 0.04550284892320633, 0.2911275327205658, 0.5204267501831055, 7.945081597426906e-05, 1.349415924778441e-05, 0.0013782635796815157, 0.0008810236467979848, 0.0021716514602303505, 0.06470075249671936, 0.04852296784520149], "count": [736]}, "observation.state.joint_torque": {"min": [-38.35200119018555, -25.603500366210938, -19.238000869750977, -17.836000442504883, -0.1096000000834465, -3.184799909591675, 0.9327999949455261, -1.0213690996170044, -0.6112931966781616, -0.5194442272186279, -0.6362570524215698, -0.0879935771226883, -0.42216429114341736, -0.8615989089012146, -0.16104483604431152, -0.038529157638549805, -0.3789883852005005, -0.6178950071334839, -0.13614100217819214, -0.02925362065434456, -0.34732604026794434, -0.22643356025218964, -0.09463459998369217, -0.05422622710466385, -0.08136319369077682, -0.4020155072212219, -0.25042015314102173, -0.1411217600107193, -0.1719542145729065, 20.194499969482422, -12.601499557495117, 6.460999965667725, -8.335000038146973, -2.52239990234375, -2.7344000339508057, -3.628000020980835, -1.2964509725570679, -0.6800637245178223, -0.32061389088630676, -0.7157891988754272, -0.16104483604431152, -0.3818667531013489, -0.5382594466209412, -0.07637178897857666, -0.050658710300922394, -0.42792102694511414, -1.0103158950805664, -0.14610254764556885, -0.015697065740823746, -0.2676905393600464, -1.0160726308822632, -0.151083305478096, -0.02996712550520897, -0.11742688715457916, -0.5229079723358154, -0.5392189025878906, -0.1759871542453766, -0.07277730107307434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.172500610351562, 15.881999969482422, -9.618000030517578, 4.9720001220703125, 2.5360000133514404, 2.2792000770568848, 3.5048000812530518, 0.7615694999694824, 1.900102972984314, 1.2252919673919678, 0.7940786480903625, 0.09629485011100769, 0.8520042300224304, 0.5747190713882446, 0.22247432172298431, 0.05565322935581207, 0.9124504923820496, 0.406812846660614, 0.13448072969913483, 0.03710215538740158, 0.506597101688385, 0.4384751617908478, 0.12617947161197662, 0.044950686395168304, 0.056734342128038406, 0.3338935375213623, 0.08347338438034058, 0.0979551151394844, 0.12414952367544174, 43.32749938964844, 15.390000343322754, 20.492000579833984, 5.599999904632568, 1.3832000494003296, 2.8592000007629395, 1.215999960899353, 1.956138253211975, 2.732990026473999, 1.5483912229537964, 0.9432014226913452, 0.6026729345321655, 1.0343024730682373, 0.5382593870162964, 0.44494864344596863, 0.039242662489414215, 1.1072217226028442, 0.5747190713882446, 1.0276985168457031, 0.08419335633516312, 1.85752272605896, 0.45094817876815796, 0.899858832359314, 0.21547789871692657, 0.08268260210752487, 0.3530828356742859, 0.570881187915802, 0.13946151733398438, 0.13057105243206024, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-25.965320587158203, 2.06156063079834, -12.76975154876709, -4.027276515960693, 0.5074350833892822, 0.8987042903900146, 1.926833987236023, 0.2497965544462204, 0.9267630577087402, 0.5840169787406921, 0.322940468788147, 0.05800080671906471, 0.42450150847435, -0.015649965032935143, 0.09975293278694153, 0.028750481083989143, 0.4139997959136963, 0.026892395690083504, 0.05694956332445145, 0.014921490103006363, 0.08944121748209, 0.05364657938480377, 0.028779257088899612, 0.008521285839378834, -0.02192552760243416, 0.0842699185013771, -0.03378849849104881, 0.024784281849861145, 0.0088877584785223, 26.710111618041992, 2.4514591693878174, 12.819955825805664, -2.4947807788848877, -0.18136955797672272, 0.868049681186676, -1.0423070192337036, 0.3191327750682831, 0.8649822473526001, 0.530820369720459, -0.0748787671327591, 0.16411925852298737, 0.16037394106388092, -0.06091296300292015, 0.11624956130981445, 0.005071105435490608, 0.3371526598930359, -0.12340060621500015, 0.3105020523071289, 0.0337429903447628, 0.5300940871238708, -0.22438953816890717, 0.22135740518569946, 0.07608675211668015, -0.029959678649902344, -0.12514367699623108, -0.05580666661262512, -0.0039837113581597805, 0.005834057927131653, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.5592535734176636, 2.0899572372436523, 1.006929874420166, 1.3140883445739746, 0.25989440083503723, 0.5298446416854858, 0.5089126825332642, 0.3501077890396118, 0.8316087126731873, 0.6370142698287964, 0.3203560411930084, 0.031309910118579865, 0.3530014455318451, 0.21064819395542145, 0.0845542922616005, 0.019999252632260323, 0.42372652888298035, 0.16859665513038635, 0.07349301129579544, 0.014298215508460999, 0.17582440376281738, 0.1328125, 0.05291233956813812, 0.011137355118989944, 0.022355016320943832, 0.18786826729774475, 0.05283612012863159, 0.05261452868580818, 0.014006121084094048, 2.1777384281158447, 2.4020063877105713, 1.668867826461792, 1.105334758758545, 0.506079375743866, 1.3022292852401733, 1.2279068231582642, 0.7547782063484192, 1.0990699529647827, 0.6598742604255676, 0.29597318172454834, 0.2130032628774643, 0.37599775195121765, 0.2040170580148697, 0.1400630921125412, 0.011180926114320755, 0.4370506703853607, 0.27922794222831726, 0.36211854219436646, 0.031795818358659744, 0.6703636050224304, 0.32730188965797424, 0.29115262627601624, 0.09287893772125244, 0.0517350398004055, 0.1828944981098175, 0.24056892096996307, 0.06169791892170906, 0.014301150105893612, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [736]}, "observation.state.tcp": {"min": [0.3259149193763733, 0.11753206700086594, 0.9048883318901062, -1.2101565599441528, 1.2178624868392944, -1.333269476890564, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.336763471364975, -0.29892370104789734, 0.8825415968894958, -1.1148288249969482, 0.8741675019264221, 0.5659367442131042, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4097723066806793, 0.2368428111076355, 1.0518503189086914, -0.24085038900375366, 1.9083033800125122, -0.8311739563941956, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4467504322528839, -0.11002923548221588, 1.0616328716278076, 1.3507965803146362, 1.8403905630111694, 1.572797417640686, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3481154143810272, 0.16830678284168243, 0.9589523077011108, -0.4580644965171814, 1.765468716621399, -1.0471243858337402, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.37306660413742065, -0.19673295319080353, 0.9987523555755615, 0.23872964084148407, 1.3783607482910156, 1.0438343286514282, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.021616917103528976, 0.03738680109381676, 0.03526601567864418, 0.265337198972702, 0.16720153391361237, 0.11566874384880066, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.022152157500386238, 0.06381609290838242, 0.05376958101987839, 0.9735419154167175, 0.29281318187713623, 0.3619188368320465, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [736]}, "action": {"min": [0.9480960369110107, -0.8234601020812988, -0.23134347796440125, 1.1435827016830444, -0.9561493992805481, -0.7699999809265137, 0.10392720252275467, 0.0, -0.29438677430152893, -0.025403635576367378, -0.04641871154308319, 0.0, 0.0, -0.15369148552417755, 0.0, 0.0, 0.0, -0.1698366105556488, 0.0, 0.0, 0.0, -0.07906211167573929, 0.0, 0.0, -9.929022048993374e-09, 0.0, -0.10148485749959946, 0.0, 0.0, 0.9227853417396545, -0.9011178612709045, -0.2335485816001892, 0.9315098524093628, -2.3928184509277344, -0.8485790491104126, -0.003067961661145091, 0.0, -0.27960267663002014, 0.0, -0.1442125290632248, 0.0, 0.0, -0.14663703739643097, 0.0, 0.0, 0.0, -0.09180645644664764, 0.0, 0.0, 0.0, -0.017661236226558685, 0.0, 0.0, -9.95468418807377e-09, -0.00022358492424245924, -0.10598711669445038, 0.0, 0.0, 0.5623001456260681, -1.1068999767303467, 0.5442000031471252, -1.5928852266045997e-20, -0.01523680705577135, -1.2776279155757965e-18, -0.8404300808906555], "max": [1.2486604452133179, -0.5870352983474731, 1.7411089794334714e-17, 1.5700000524520874, 0.04563593119382858, -0.38004374504089355, 0.5199999809265137, 1.331878662109375, 0.0, 0.3061680793762207, 0.14462855458259583, 0.1971304714679718, 0.7465426921844482, 0.09358081221580505, 0.490712970495224, 0.5764271020889282, 0.9605773091316223, 0.07031078636646271, 0.39957088232040405, 0.34144389629364014, 0.7681363821029663, 0.08950769156217575, 0.3856830894947052, 0.5103967785835266, 0.15010495483875275, 0.17678672075271606, 0.01196079608052969, 0.9156354665756226, 1.3834844827651978, 1.2841336727142334, -0.5158969163894653, -0.0025651396717876196, 1.5676242113113403, 0.2983592748641968, -0.02895388752222061, 0.6357392072677612, 1.5897365808486938, 0.0, 0.5020331740379333, 0.1447245478630066, 0.8565895557403564, 0.6326885223388672, 0.13190783560276031, 0.7806493639945984, 0.7039278745651245, 0.8352134227752686, 0.14993487298488617, 1.0192660093307495, 0.35608020424842834, 1.0713410377502441, 0.13495516777038574, 0.7548695206642151, 1.3132857084274292, 0.12841805815696716, 0.23045210540294647, 0.12916986644268036, 0.8109964728355408, 1.3997759819030762, 0.5626999735832214, -1.106863021850586, 0.5537132620811462, 0.005887908861041069, 2.1604048622127675e-19, 0.17732787132263184, -0.6000000238418579], "mean": [1.0435984134674072, -0.6751763224601746, -0.22181130945682526, 1.3515825271606445, -0.7178473472595215, -0.5242460370063782, 0.25460806488990784, 1.1701372861862183, -0.18121275305747986, 0.20393142104148865, 0.08477149903774261, 0.17827606201171875, 0.5695576071739197, -0.004031636752188206, 0.3903740644454956, 0.4759635627269745, 0.648795485496521, -0.01067551039159298, 0.29737958312034607, 0.2764768898487091, 0.45197296142578125, 0.026740314438939095, 0.281314879655838, 0.38186922669410706, 0.08036799728870392, 0.08589562028646469, -0.03218791261315346, 0.6391158103942871, 0.911593496799469, 1.1366287469863892, -0.6737861037254333, -0.22269286215305328, 1.2572933435440063, -0.9090870022773743, -0.41957810521125793, 0.34983083605766296, 1.2231299877166748, -0.14104685187339783, 0.4059373140335083, -0.024923445656895638, 0.45892396569252014, 0.4239915907382965, 0.0003513706906232983, 0.5208436846733093, 0.43286553025245667, 0.45235854387283325, 0.045673638582229614, 0.5716603994369507, 0.2909683287143707, 0.4437974989414215, 0.07039445638656616, 0.30001264810562134, 0.6098631620407104, 0.023918384686112404, 0.05000927671790123, 0.030142249539494514, 0.3799911439418793, 0.8852639198303223, 0.5624078512191772, -1.106868863105774, 0.5524415373802185, 0.004861290566623211, -0.012548555620014668, 0.08487814664840698, -0.7835930585861206], "std": [0.06293422728776932, 0.07258623838424683, 0.04037706181406975, 0.09112180024385452, 0.29037779569625854, 0.065471351146698, 0.1362004429101944, 0.2973649501800537, 0.07149726152420044, 0.11627787351608276, 0.04992930218577385, 0.04007936269044876, 0.19978871941566467, 0.07650770992040634, 0.11367614567279816, 0.12421800941228867, 0.3244796395301819, 0.06915833801031113, 0.10872555524110794, 0.094582200050354, 0.2926875650882721, 0.047939080744981766, 0.12998901307582855, 0.17158246040344238, 0.04480920732021332, 0.06727839261293411, 0.039297789335250854, 0.304561972618103, 0.40460771322250366, 0.1041189581155777, 0.09655820578336716, 0.03739961236715317, 0.13971634209156036, 1.006951093673706, 0.2504584491252899, 0.2509540319442749, 0.36132344603538513, 0.09624309092760086, 0.12686847150325775, 0.10601150989532471, 0.32587793469429016, 0.19032277166843414, 0.07821664959192276, 0.21779589354991913, 0.15243488550186157, 0.28834035992622375, 0.05512986704707146, 0.29911351203918457, 0.08970291912555695, 0.4117884635925293, 0.05027274787425995, 0.22060130536556244, 0.495226114988327, 0.039939019829034805, 0.07174661010503769, 0.06527166813611984, 0.29359951615333557, 0.5355516672134399, 4.983612598152831e-05, 7.4732929533638526e-06, 0.0014483360573649406, 0.0009174951701425016, 0.0022809000220149755, 0.06476546823978424, 0.04894259199500084], "count": [736]}, "observation.state.tcp_pose": {"min": [0.3259149193763733, 0.11753206700086594, 0.9048883318901062, -1.2101565599441528, 1.2178624868392944, -1.333269476890564, 0.336763471364975, -0.29892370104789734, 0.8825415968894958, -1.1148288249969482, 0.8741675019264221, 0.5659367442131042], "max": [0.4097723066806793, 0.2368428111076355, 1.0518503189086914, -0.24085038900375366, 1.9083033800125122, -0.8311739563941956, 0.4467504322528839, -0.11002923548221588, 1.0616328716278076, 1.3507965803146362, 1.8403905630111694, 1.572797417640686], "mean": [0.3481154143810272, 0.16830678284168243, 0.9589523077011108, -0.4580644965171814, 1.765468716621399, -1.0471243858337402, 0.37306660413742065, -0.19673295319080353, 0.9987523555755615, 0.23872964084148407, 1.3783607482910156, 1.0438343286514282], "std": [0.021616917103528976, 0.03738680109381676, 0.03526601567864418, 0.265337198972702, 0.16720153391361237, 0.11566874384880066, 0.022152157500386238, 0.06381609290838242, 0.05376958101987839, 0.9735419154167175, 0.29281318187713623, 0.3619188368320465], "count": [736]}, "action.tcp_pose": {"min": [0.3259802460670471, 0.1174277737736702, 0.9047815203666687, -1.208855390548706, 1.2178406715393066, -1.3336474895477295, 0.3367100656032562, -0.2995549440383911, 0.8824571371078491, -1.1153899431228638, 0.8741675019264221, 0.5654476284980774], "max": [0.4097673296928406, 0.23685623705387115, 1.0518072843551636, -0.2405276596546173, 1.9082435369491577, -0.8306688070297241, 0.4466448724269867, -0.11004435271024704, 1.0617319345474243, 1.3508353233337402, 1.8386763334274292, 1.572778344154358], "mean": [0.3482135832309723, 0.1683102399110794, 0.9589413404464722, -0.4584149122238159, 1.7655013799667358, -1.0472328662872314, 0.37336868047714233, -0.19715777039527893, 0.9987398982048035, 0.24443359673023224, 1.379825472831726, 1.0436460971832275], "std": [0.021680768579244614, 0.03740705922245979, 0.0354032889008522, 0.2655341327190399, 0.16731545329093933, 0.115675188601017, 0.022334977984428406, 0.06385427713394165, 0.053782518953084946, 0.9711851477622986, 0.29203131794929504, 0.36127573251724243], "count": [736]}, "subtask_index": {"min": [0], "max": [4], "mean": [1.8179347826086956], "std": [1.277737502846917], "count": [736]}, "observation.tactile": {"min": [-3.601837396621704, -4.0136237657861784e-05, -9.448448690818623e-05, -0.13511359691619873, -0.030834032222628593, -0.04130198806524277, -0.1015094444155693, -4.588632509694435e-05, -0.00010305206524208188, -0.04293729364871979, -0.005895370151847601, -0.0020975887309759855, -0.280632346868515, -3.272904359619133e-05, -7.091981387929991e-05, -0.04813480004668236, -0.0011629158398136497, -0.007248724345117807, -0.009016714990139008, -2.632669020385947e-05, -5.8425881434231997e-05, -0.0007434955332428217, -5.788700218545273e-05, -0.00020273932022973895, -0.003573379945009947, -4.369484304334037e-05, -9.948552178684622e-05, -0.0015218241605907679, -7.376203575404361e-05, -5.939064794802107e-05, -0.0010113903554156423, -3.51374146703165e-05, -8.008645818335935e-05, -0.23216450214385986, -5.63670982955955e-06, -2.3034865080262534e-05, -0.9046034812927246, -3.0960803997004405e-05, -6.767778540961444e-05, -0.03958715498447418, -0.0021747953724116087, -0.011352437548339367, -2.2693307399749756, -0.6587948203086853, -9.9614990176633e-05, -0.07457100600004196, -0.004215141758322716, -0.03051997721195221, -1.9913028478622437, -4.1994426283054054e-05, -9.604367369320244e-05, -0.08986929059028625, -0.002640655729919672, -0.04180227965116501, -0.4734996259212494, -0.01506279781460762, -0.3591182231903076, -0.005103192292153835, -0.0020333551801741123, -0.008216528221964836], "max": [0.013185054995119572, 2.672314405441284, 11.43307113647461, 1.7401932836946798e-06, 0.0003402668808121234, 0.0013097231276333332, 1.6643613576889038, 1.0011485815048218, 2.911823034286499, 1.9020201307284879e-06, 0.0016521225916221738, 0.02621438167989254, 1.0811389684677124, 1.7343840599060059, 3.029799699783325, 1.3236684708317625e-06, 0.007405831944197416, 0.014630446210503578, 0.0023732276167720556, 0.012445108033716679, 0.0362255722284317, 1.056150267686462e-06, 0.00011634825932560489, 3.115995059488341e-05, 0.18818774819374084, 0.044466134160757065, 0.09269191324710846, 1.82765302270127e-06, 0.00064909114735201, 0.003193567506968975, 9.58094310760498, 18.75853157043457, 18.339401245117188, 1.5278951650543604e-06, 0.030607812106609344, 0.08829884976148605, 0.30167636275291443, 2.19942569732666, 2.9271843433380127, 1.2373841400403762e-06, 0.004517161287367344, 0.004205263685435057, 0.25388792157173157, 1.6439132690429688, 5.814716815948486, 1.8048272067971993e-06, 0.011131544597446918, 0.0029752699192613363, 0.20674221217632294, 4.326152324676514, 4.67738151550293, 1.7627671695663594e-06, 0.0101929297670722, 0.007205327972769737, 1.4477651119232178, 0.6028887033462524, 0.2624853253364563, 0.007792129181325436, 0.0011658744188025594, 0.031236326321959496], "mean": [-1.8037102222442627, 1.3685240745544434, 5.67579984664917, -0.0664229765534401, -0.016029803082346916, -0.01693614199757576, 0.6198631525039673, 0.31559813022613525, 1.1812430620193481, -0.01761295460164547, -0.0015249423449859023, 0.009410163387656212, 0.25171804428100586, 0.6656073331832886, 1.379879355430603, -0.022300904616713524, 0.002682099584490061, 0.0026031178422272205, -6.990189285716042e-05, 0.0004364804772194475, 0.0012848832411691546, -2.366962689848151e-05, 2.501191147530335e-07, -1.4726921335750376e-06, 0.03876791521906853, 0.008647280745208263, 0.02240811660885811, -0.00038985340506769717, 0.00014073136844672263, 0.0006219864008016884, 3.344449520111084, 6.754908084869385, 6.056142330169678, -0.07207059115171432, 0.009485159069299698, 0.029609546065330505, -0.09387332201004028, 0.3074098527431488, 0.49981072545051575, -0.0059752496890723705, 0.00042973048402927816, -0.0012566052610054612, -0.5578826069831848, 0.3635319471359253, 1.584104299545288, -0.019911831244826317, 0.002240619156509638, -0.007306444924324751, -0.5981504321098328, 1.0993015766143799, 1.6324540376663208, -0.030758174136281013, 0.001993918791413307, -0.012011876329779625, 0.007122555281966925, 0.008137986995279789, 0.010113546624779701, -0.00018418673425912857, 2.0820898498641327e-05, 0.0002555962710175663], "std": [1.3842393159866333, 1.0786511898040771, 4.663754463195801, 0.05532687157392502, 0.0128968246281147, 0.013323749415576458, 0.5617864727973938, 0.27556899189949036, 0.9250388145446777, 0.013856458477675915, 0.001783766900189221, 0.00863591767847538, 0.338703989982605, 0.6373081207275391, 1.2568185329437256, 0.02007587067782879, 0.0026458390057086945, 0.00465892581269145, 0.0009307296713814139, 0.0014972368953749537, 0.004329947754740715, 8.152063674060628e-05, 1.2658520063268952e-05, 1.916006840474438e-05, 0.044583726674318314, 0.008660650812089443, 0.021524816751480103, 0.0003689703589770943, 0.0001447283138986677, 0.0007256959215737879, 3.490457773208618, 7.675869941711426, 6.865062236785889, 0.08481183648109436, 0.010613811202347279, 0.030779041349887848, 0.20936958491802216, 0.47926855087280273, 0.7174454927444458, 0.008546647615730762, 0.0009575493750162423, 0.0027955572586506605, 0.7779472470283508, 0.46381092071533203, 1.958675503730774, 0.025158707052469254, 0.003315960057079792, 0.009995736181735992, 0.7308545708656311, 1.2918014526367188, 1.8951154947280884, 0.03587932139635086, 0.0028290417976677418, 0.014937988482415676, 0.16255314648151398, 0.040034133940935135, 0.03518552705645561, 0.0007009446271695197, 0.00020252700778655708, 0.003154684789478779], "count": [736]}, "timestamp": {"min": [0.0], "max": [24.5], "mean": [12.25], "std": [7.082156765028888], "count": [736]}, "frame_index": {"min": [0], "max": [735], "mean": [367.5], "std": [212.46470295086664], "count": [736]}, "episode_index": {"min": [15], "max": [15], "mean": [15.0], "std": [0.0], "count": [736]}, "index": {"min": [10329], "max": [11064], "mean": [10696.5], "std": [212.46470295086664], "count": [736]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [736]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5360478162765503]], [[0.5353503823280334]], [[0.5374823212623596]]], "std": [[[0.28659000992774963]], [[0.28678736090660095]], [[0.2877776026725769]]], "count": [736]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.21861721575260162]], [[0.21825136244297028]], [[0.21379058063030243]]], "std": [[[0.14653949439525604]], [[0.14684437215328217]], [[0.14771153032779694]]], "count": [736]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.30032771825790405]], [[0.30070191621780396]], [[0.3005107343196869]]], "std": [[[0.17086832225322723]], [[0.1716635376214981]], [[0.17092910408973694]]], "count": [736]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5355631113052368]], [[0.5352760553359985]], [[0.537022054195404]]], "std": [[[0.29090914130210876]], [[0.2910003662109375]], [[0.291922003030777]]], "count": [736]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.545098066329956]], [[0.545098066329956]], [[0.545098066329956]]], "mean": [[[0.003953391686081886]], [[0.003953391686081886]], [[0.003953391686081886]]], "std": [[[0.03553122282028198]], [[0.03553122282028198]], [[0.03553122282028198]]], "count": [736]}, "observation.images.tactile_raw": {"min": [[[0.062745101749897]], [[0.062745101749897]], [[0.062745101749897]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5059112906455994]], [[0.5059112906455994]], [[0.5059112906455994]]], "std": [[[0.23683643341064453]], [[0.23683643341064453]], [[0.23683643341064453]]], "count": [736]}}}
+{"episode_index": 16, "stats": {"observation.state": {"min": [0.942711353302002, -0.9212594628334045, -0.23138339817523956, 1.1309316158294678, -0.9072799682617188, -0.7700412273406982, 0.049404725432395935, 0.009281739592552185, -0.2889394164085388, -0.045204829424619675, -0.0017320995684713125, 0.021668046712875366, -0.005433219019323587, -0.13438630104064941, 0.011453798972070217, 0.012098349630832672, -0.0372978113591671, -0.15057213604450226, 0.028508272022008896, 0.012990960851311684, -0.004084726795554161, -0.04584307596087456, 0.015066441148519516, 0.010963630862534046, 0.033961083739995956, 0.0036642574705183506, -0.03039908967912197, 0.019011661410331726, 0.0039522284641861916, 0.930037260055542, -0.9788836240768433, -0.23365740478038788, 0.9726938605308533, -2.282487154006958, -0.7641558051109314, -0.07856007665395737, 0.012315487489104271, -0.2948620021343231, 0.025092411786317825, -0.1554969698190689, 0.010874797590076923, 0.011742944829165936, -0.12673960626125336, 0.0111868130043149, 0.009308776818215847, -0.014390620402991772, -0.09697073698043823, 0.01498524472117424, 0.010122457519173622, -0.009427915327250957, -0.030475135892629623, 0.014423971995711327, 0.01048783864825964, 0.023632222786545753, 5.617697388515808e-05, -0.02803303487598896, 0.011245669797062874, 0.0029514229390770197, 0.5620121955871582, -1.1069588661193848, 0.5443714261054993, 0.0001917476038215682, -0.015531555749475956, -0.014285196550190449, -0.8108047246932983], "max": [1.2452083826065063, -0.5638818144798279, 9.58738019107841e-06, 1.6413114070892334, 0.03588256612420082, -0.372447669506073, 0.5200260877609253, 1.364490032196045, -0.003633956890553236, 0.16082565486431122, 0.14606256783008575, 0.17135527729988098, 0.6864413619041443, 0.08462920784950256, 0.46607181429862976, 0.5912405848503113, 0.8131120204925537, 0.0544433556497097, 0.3996075987815857, 0.33700358867645264, 0.6559495329856873, 0.07663246989250183, 0.3350427746772766, 0.5098134875297546, 0.2358148843050003, 0.06850546598434448, 0.012704086489975452, 0.9076210856437683, 1.2916984558105469, 1.2794692516326904, -0.5221549272537231, -0.005356828682124615, 1.5685882568359375, 0.22049716114997864, -0.1424955427646637, 0.6693098545074463, 1.5376776456832886, 0.009604428894817829, 0.5026164650917053, 0.13653194904327393, 0.6745629906654358, 0.6005024313926697, 0.14011119306087494, 0.47103357315063477, 0.5474056005477905, 0.743950366973877, 0.15857966244220734, 0.35418134927749634, 0.32574644684791565, 0.7579254508018494, 0.17100386321544647, 0.35937535762786865, 0.5070026516914368, 0.16245535016059875, 0.13612337410449982, 0.13358265161514282, 0.8074474334716797, 1.3090357780456543, 0.5626833438873291, -1.106767177581787, 0.5537670850753784, 0.006327670533210039, -0.00047936898772604764, 0.18973425030708313, -0.6016080975532532], "mean": [1.0660542249679565, -0.7213692665100098, -0.22229759395122528, 1.44135320186615, -0.693852424621582, -0.5881670713424683, 0.2581097185611725, 1.210387110710144, -0.23028770089149475, 0.06603451818227768, 0.09697610139846802, 0.16491363942623138, 0.47771602869033813, -0.00710204616189003, 0.3540632128715515, 0.4984164237976074, 0.5819029808044434, -0.01899644173681736, 0.2809397876262665, 0.2534739673137665, 0.3911391794681549, 0.0190926231443882, 0.24902552366256714, 0.3859105408191681, 0.13661730289459229, 0.03905562311410904, -0.012703735381364822, 0.6690514087677002, 0.974458634853363, 1.1276845932006836, -0.7256923913955688, -0.22340427339076996, 1.3255366086959839, -0.8361787796020508, -0.3761409819126129, 0.36983242630958557, 1.2447493076324463, -0.18083210289478302, 0.3192276358604431, -0.04510632902383804, 0.33381521701812744, 0.41092798113822937, 0.038559190928936005, 0.3215790092945099, 0.4086220860481262, 0.4403115510940552, 0.05289342254400253, 0.22590157389640808, 0.23243141174316406, 0.3664904236793518, 0.08488328754901886, 0.21365487575531006, 0.3079138696193695, 0.038191135972738266, 0.04670920968055725, 0.05019101873040199, 0.4464387595653534, 0.8830727934837341, 0.5623053908348083, -1.1068689823150635, 0.5525730848312378, 0.004841175861656666, -0.012534866109490395, 0.0760427713394165, -0.7779432535171509], "std": [0.06782516092061996, 0.095583975315094, 0.03905068710446358, 0.15167580544948578, 0.25758007168769836, 0.07424952834844589, 0.15662389993667603, 0.28672081232070923, 0.047744132578372955, 0.0391705296933651, 0.029845023527741432, 0.02740238793194294, 0.19636791944503784, 0.07995623350143433, 0.1212557703256607, 0.1492053121328354, 0.28834259510040283, 0.06988602876663208, 0.1157108023762703, 0.10106968134641647, 0.24217888712882996, 0.047932710498571396, 0.11303214728832245, 0.17897441983222961, 0.05481083318591118, 0.021413596346974373, 0.01783173531293869, 0.2591703534126282, 0.26036879420280457, 0.1321350783109665, 0.08772609382867813, 0.03721477463841438, 0.2067044973373413, 0.8521775007247925, 0.15736040472984314, 0.28348508477211, 0.3145977556705475, 0.08115240931510925, 0.11502303928136826, 0.0837211161851883, 0.19357463717460632, 0.18549151718616486, 0.09380049258470535, 0.08474509418010712, 0.09726657718420029, 0.29381802678108215, 0.08565733581781387, 0.09635549038648605, 0.09912138432264328, 0.3132378160953522, 0.07528121769428253, 0.130586639046669, 0.2068561613559723, 0.024590102955698967, 0.04243547469377518, 0.0560484416782856, 0.2998430132865906, 0.4719829261302948, 8.669408998684958e-05, 1.944892392202746e-05, 0.0013321739388629794, 0.0008495611837133765, 0.0020160938147455454, 0.06750109791755676, 0.0376630499958992], "count": [707]}, "observation.state.joint_torque": {"min": [-33.29249954223633, -5.260499954223633, -17.714000701904297, -7.041999816894531, -0.30480000376701355, -1.0959999561309814, 0.8615999817848206, -0.9869838356971741, -0.2419702410697937, -0.528143048286438, -0.5877922177314758, -0.0879935771226883, -0.8021121025085449, -0.7838822603225708, -0.29552558064460754, -0.10916595906019211, -0.6466788649559021, -0.8107472062110901, -0.3254101872444153, -0.07349080592393875, -0.4048939049243927, -0.4854888916015625, -0.12783971428871155, -0.039242662489414215, -0.08400201052427292, -0.3031907081604004, -0.39146140217781067, -0.09961536526679993, -0.03496164828538895, 18.118499755859375, -1.9769999980926514, 7.678999900817871, -6.163000106811523, -1.7824000120162964, -1.041599988937378, -2.880000114440918, -1.076130747795105, -0.7297313213348389, -0.3964179754257202, -0.6114032864570618, -0.0979551151394844, -0.3578801453113556, -0.5190701484680176, -0.07471152395009995, -0.019978083670139313, -0.435596764087677, -0.5574487447738647, -0.1062563955783844, -0.01855107769370079, -0.31182587146759033, -0.7742876410484314, -0.24571789801120758, -0.05351272225379944, -0.12182490527629852, -0.41832640767097473, -0.5852732062339783, -0.10791664570569992, -0.06492877006530762, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-20.69849967956543, 17.351999282836914, -9.074000358581543, 5.519999980926514, 1.770400047302246, 2.5, 3.131999969482422, 0.813784122467041, 1.2467834949493408, 1.0488300323486328, 0.6126459836959839, 0.10127562284469604, 0.7771660685539246, 0.5181106925010681, 0.11123716086149216, 0.04923170804977417, 0.735909104347229, 0.4077723026275635, 0.19092944264411926, 0.03781566023826599, 0.33293408155441284, 0.28975820541381836, 0.151083305478096, 0.04923170804977417, 0.05541493743658066, 0.3127853572368622, 0.3310151696205139, 0.17100638151168823, 0.03781566023826599, 36.712501525878906, 13.681500434875488, 17.024999618530273, 3.742000102996826, 1.018399953842163, 3.105600118637085, 1.1792000532150269, 1.3333832025527954, 2.563610792160034, 1.6863298416137695, 0.7431284189224243, 0.4764934778213501, 0.7598956823348999, 0.34732604026794434, 0.10957689583301544, 0.019978083670139313, 0.893261194229126, 0.47877269983291626, 0.1328205019235611, 0.022118592634797096, 1.1417624950408936, 0.2341092824935913, 0.22247432172298431, 0.046377696096897125, 0.08576121926307678, 0.40201547741889954, 0.5382593870162964, 0.11953844130039215, 0.0635017603635788, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-25.29976463317871, 2.2660973072052, -13.080121040344238, -4.170224189758301, 0.6354090571403503, 0.9182910323143005, 2.056499481201172, 0.21217648684978485, 0.6215426921844482, 0.4322454631328583, 0.08322671055793762, 0.04147344082593918, 0.3160124123096466, 0.025282591581344604, 0.03894195705652237, 0.00016550638247281313, 0.3338612914085388, -0.0014928128803148866, 0.03791355341672897, 0.009128191508352757, 0.07052674144506454, 0.07992320507764816, 0.0338110476732254, 0.0060662683099508286, -0.019266635179519653, 0.0829915925860405, -0.07672176510095596, 0.006406158674508333, 0.012578633613884449, 25.852800369262695, 2.8187079429626465, 12.857348442077637, -2.748368740081787, -0.23882314562797546, 0.8402941226959229, -1.1708157062530518, 0.09071581810712814, 0.45655155181884766, 0.485784649848938, 0.09781920909881592, 0.05302021652460098, -0.016898512840270996, -0.058547694236040115, -0.002742823911830783, -0.001322051277384162, 0.09261606633663177, -0.08334994316101074, -0.01911996118724346, -0.0049713002517819405, 0.3084007501602173, -0.20183901488780975, 0.021923819556832314, 0.00545772910118103, -0.03385540097951889, -0.11669635772705078, -0.08418859541416168, -0.004652004223316908, 0.007488231174647808, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.809613585472107, 2.1082987785339355, 1.186734676361084, 1.273534893989563, 0.26853683590888977, 0.5183756351470947, 0.45282846689224243, 0.3759865164756775, 0.5746235847473145, 0.5474991798400879, 0.21076756715774536, 0.022643720731139183, 0.34392550587654114, 0.24134336411952972, 0.05133277177810669, 0.009664934128522873, 0.3679739236831665, 0.2150198072195053, 0.08411582559347153, 0.013256019912660122, 0.1927485466003418, 0.15388129651546478, 0.0719117596745491, 0.013093329034745693, 0.02576635032892227, 0.15986910462379456, 0.09803275763988495, 0.051286451518535614, 0.007922672666609287, 1.9638150930404663, 2.1700687408447266, 2.0041775703430176, 1.0994758605957031, 0.41981416940689087, 1.1071306467056274, 1.0649715662002563, 0.49546143412590027, 0.6917117834091187, 0.6263275742530823, 0.24126194417476654, 0.1291765570640564, 0.27564752101898193, 0.15309254825115204, 0.04995076358318329, 0.010053236037492752, 0.2964012026786804, 0.15995295345783234, 0.048233162611722946, 0.008357844315469265, 0.4720474183559418, 0.2775678038597107, 0.08840183168649673, 0.016801459714770317, 0.020364414900541306, 0.15140338242053986, 0.21583683788776398, 0.05721122398972511, 0.011872815899550915, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [707]}, "observation.state.tcp": {"min": [0.2932652235031128, 0.10834003984928131, 0.9131786227226257, -1.2108443975448608, 1.2182520627975464, -1.3502085208892822, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3409656882286072, -0.29820263385772705, 0.886813223361969, -1.015764594078064, 1.082705020904541, 0.5142401456832886, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.404886931180954, 0.2625041604042053, 1.0526578426361084, -0.2545028030872345, 1.8407440185546875, -0.897326648235321, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.43860965967178345, -0.11267819255590439, 1.0826821327209473, 1.337294340133667, 1.8343920707702637, 1.5633182525634766, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3392476737499237, 0.17011497914791107, 0.9788504242897034, -0.4899384379386902, 1.7077670097351074, -1.0713441371917725, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.36011725664138794, -0.20648665726184845, 0.9984113574028015, 0.31189408898353577, 1.4736974239349365, 1.0758146047592163, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.025883011519908905, 0.05076857656240463, 0.03640911355614662, 0.2334747165441513, 0.1394614428281784, 0.10062277317047119, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.02004728466272354, 0.05747460946440697, 0.07119179517030716, 0.8090702891349792, 0.22621475160121918, 0.33294445276260376, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [707]}, "action": {"min": [0.9427270889282227, -0.9215390086174011, -0.23134347796440125, 1.130927324295044, -0.9072538018226624, -0.7699999809265137, 0.04947088286280632, 0.0, -0.2932876944541931, -0.06420701742172241, 0.0, 0.0, 0.0, -0.16238445043563843, 0.0, 0.0, 0.0, -0.15655051171779633, 0.0, 0.0, 0.0, -0.12883558869361877, 0.0, 0.0, -7.905553545128896e-09, -0.0008098151884041727, -0.11801471561193466, 0.0, 0.0, 0.9300717711448669, -0.979830265045166, -0.23364445567131042, 0.9725438356399536, -2.2824676036834717, -0.7673209309577942, -0.07804127782583237, 0.0, -0.2892930209636688, 0.0, -0.14366164803504944, 0.0, 0.0, -0.14773280918598175, 0.0, 0.0, 0.0, -0.11931978166103363, 0.0, 0.0, 0.0, -0.1076028123497963, 0.0, 0.0, -9.937672906801254e-09, -0.0005579094286076725, -0.13887986540794373, 0.0, 0.0, 0.5622998476028442, -1.1068999767303467, 0.5442000031471252, -2.1763427262238464e-20, -0.01663978211581707, -0.01670972630381584, -0.8110422492027283], "max": [1.245208978652954, -0.5638338327407837, 2.9837304667294166e-17, 1.6416471004486084, 0.03585680201649666, -0.3717986047267914, 0.5199999809265137, 1.4051281213760376, 0.0, 0.21261852979660034, 0.14233730733394623, 0.18638518452644348, 0.6943183541297913, 0.09440605342388153, 0.49393442273139954, 0.6116166114807129, 0.9076083898544312, 0.05834292620420456, 0.4196659028530121, 0.3543337881565094, 0.6699827313423157, 0.08429878205060959, 0.36129918694496155, 0.5274953842163086, 0.2387600988149643, 0.0775221735239029, 0.013878108933568, 0.925095796585083, 1.3192474842071533, 1.2794358730316162, -0.5220328569412231, -0.0010861156042665243, 1.569724202156067, 0.22065339982509613, -0.1414138525724411, 0.669390857219696, 1.5574617385864258, 0.1001134142279625, 0.5801182985305786, 0.14553143084049225, 0.7756601572036743, 0.6266126036643982, 0.14258305728435516, 0.4913221001625061, 0.5612039566040039, 0.8214026093482971, 0.15125778317451477, 0.3714928925037384, 0.339325487613678, 0.886483371257782, 0.1591295599937439, 0.41503843665122986, 0.5224047303199768, 0.15691031515598297, 0.14058101177215576, 0.13576532900333405, 0.823253870010376, 1.3621773719787598, 0.5626999735832214, -1.106863021850586, 0.5545422434806824, 0.006700143683701754, 2.1322453077159897e-19, 0.18979766964912415, -0.6000000238418579], "mean": [1.0661835670471191, -0.7216141819953918, -0.22235316038131714, 1.4415528774261475, -0.6937225461006165, -0.5882164239883423, 0.2582959830760956, 1.219710111618042, -0.1979546844959259, 0.12149538844823837, 0.09986111521720886, 0.17521868646144867, 0.5198882222175598, -0.004702097736299038, 0.36473754048347473, 0.49956411123275757, 0.6296089887619019, -0.018349090591073036, 0.29206740856170654, 0.2645202577114105, 0.3967738449573517, 0.008326531387865543, 0.25901034474372864, 0.3949681222438812, 0.12668180465698242, 0.04348771646618843, -0.04061421379446983, 0.6742585897445679, 0.9853107333183289, 1.127944827079773, -0.7261171340942383, -0.22344988584518433, 1.3254895210266113, -0.829841673374176, -0.3762308359146118, 0.370286226272583, 1.2443821430206299, -0.15632972121238708, 0.3788454830646515, -0.04044926539063454, 0.34652724862098694, 0.41573405265808105, 0.03679884225130081, 0.32102343440055847, 0.406600683927536, 0.45646798610687256, 0.04840735346078873, 0.22153928875923157, 0.22758136689662933, 0.41565632820129395, 0.07187029719352722, 0.2194291204214096, 0.3135320842266083, 0.012195004150271416, 0.038883864879608154, 0.04078973829746246, 0.44507095217704773, 0.8935955166816711, 0.562309741973877, -1.1068686246871948, 0.5526103973388672, 0.004883766174316406, -0.012575664557516575, 0.07605946063995361, -0.7779625654220581], "std": [0.06808765232563019, 0.095835842192173, 0.039044078439474106, 0.15178519487380981, 0.2574843466281891, 0.07447385787963867, 0.1566956639289856, 0.30968838930130005, 0.06531236320734024, 0.09478297829627991, 0.034052036702632904, 0.03753400966525078, 0.22540003061294556, 0.08492184430360794, 0.13253502547740936, 0.15603098273277283, 0.32566413283348083, 0.07360123097896576, 0.1305631548166275, 0.11047248542308807, 0.25111478567123413, 0.07473120093345642, 0.1268087774515152, 0.18999475240707397, 0.06452276557683945, 0.02685229480266571, 0.04848519340157509, 0.27208900451660156, 0.27541831135749817, 0.1320948600769043, 0.08794863522052765, 0.03716229274868965, 0.20662149786949158, 0.8484915494918823, 0.15768444538116455, 0.28322291374206543, 0.34043246507644653, 0.1063971221446991, 0.1540636569261551, 0.08469218015670776, 0.22316434979438782, 0.1983330249786377, 0.09513195604085922, 0.09415102750062943, 0.10617727041244507, 0.3134930431842804, 0.08595987409353256, 0.09920944273471832, 0.09938371181488037, 0.37020429968833923, 0.07343924045562744, 0.14691606163978577, 0.2168787568807602, 0.031797703355550766, 0.043080177158117294, 0.06764161586761475, 0.3047386407852173, 0.49532654881477356, 6.310867320280522e-05, 7.090614872140577e-06, 0.0014058039523661137, 0.0008896974031813443, 0.0021606062073260546, 0.06761085987091064, 0.03818404674530029], "count": [707]}, "observation.state.tcp_pose": {"min": [0.2932652235031128, 0.10834003984928131, 0.9131786227226257, -1.2108443975448608, 1.2182520627975464, -1.3502085208892822, 0.3409656882286072, -0.29820263385772705, 0.886813223361969, -1.015764594078064, 1.082705020904541, 0.5142401456832886], "max": [0.404886931180954, 0.2625041604042053, 1.0526578426361084, -0.2545028030872345, 1.8407440185546875, -0.897326648235321, 0.43860965967178345, -0.11267819255590439, 1.0826821327209473, 1.337294340133667, 1.8343920707702637, 1.5633182525634766], "mean": [0.3392476737499237, 0.17011497914791107, 0.9788504242897034, -0.4899384379386902, 1.7077670097351074, -1.0713441371917725, 0.36011725664138794, -0.20648665726184845, 0.9984113574028015, 0.31189408898353577, 1.4736974239349365, 1.0758146047592163], "std": [0.025883011519908905, 0.05076857656240463, 0.03640911355614662, 0.2334747165441513, 0.1394614428281784, 0.10062277317047119, 0.02004728466272354, 0.05747460946440697, 0.07119179517030716, 0.8090702891349792, 0.22621475160121918, 0.33294445276260376], "count": [707]}, "action.tcp_pose": {"min": [0.29320868849754333, 0.10829523950815201, 0.9131010174751282, -1.208855390548706, 1.2178406715393066, -1.3530912399291992, 0.34072574973106384, -0.300266295671463, 0.8867053985595703, -1.0156222581863403, 1.0827728509902954, 0.5160198211669922], "max": [0.4051015079021454, 0.2625961899757385, 1.0531103610992432, -0.2548368573188782, 1.8415762186050415, -0.8970898389816284, 0.4384365975856781, -0.11266942322254181, 1.0825375318527222, 1.33734130859375, 1.8344005346298218, 1.5633782148361206], "mean": [0.3392459452152252, 0.17016121745109558, 0.9789122343063354, -0.48992398381233215, 1.707655429840088, -1.071462869644165, 0.36032843589782715, -0.2069527804851532, 0.9984629154205322, 0.3181605935096741, 1.4747036695480347, 1.0770152807235718], "std": [0.025967881083488464, 0.05083313584327698, 0.03648953139781952, 0.2333201766014099, 0.13967283070087433, 0.10045034438371658, 0.020303934812545776, 0.057534027844667435, 0.07113078236579895, 0.8056449294090271, 0.22483476996421814, 0.33116334676742554], "count": [707]}, "subtask_index": {"min": [0], "max": [4], "mean": [1.8585572842998586], "std": [1.3038164675632413], "count": [707]}, "observation.tactile": {"min": [-0.11391589045524597, -4.6775294322287664e-05, -0.00010819555609486997, -0.0031601886730641127, -0.0014778203330934048, -0.0011221509194001555, -0.08716628700494766, -3.5652294172905385e-05, -7.961185474414378e-05, -0.020882271230220795, -0.0006448227795772254, -0.0017189013306051493, -0.07450424879789352, -0.18224075436592102, -8.022464317036793e-05, -0.03304437920451164, -0.0028224929701536894, -0.002987906103953719, -0.07110363245010376, -2.686984407773707e-05, -6.038633728167042e-05, -0.0013993825996294618, -0.00011615357652772218, -0.0006627239636145532, -0.004307068884372711, -0.006562445778399706, -8.729044930078089e-05, -0.004703777376562357, -6.116314034443349e-05, -9.130232501775026e-05, -0.00983859971165657, -4.004381480626762e-05, -8.820599759928882e-05, -0.12708403170108795, -4.9818223487818614e-05, -0.00383103359490633, -0.007905364967882633, -3.72964350390248e-05, -8.248766243923455e-05, -0.0013070828281342983, -3.8880982174305245e-05, -0.00017542621935717762, -0.0040964954532682896, -4.5321496145334095e-05, -0.00010519700299482793, -0.00167230109218508, -1.2707621863228269e-05, -9.773053170647472e-05, -0.8765342235565186, -5.3375493735075e-05, -0.00012078254076186568, -0.019298497587442398, -0.0012738906079903245, -0.01021391712129116, -0.6924859285354614, -5.2705701818922535e-05, -0.00011919387907255441, -0.007724856026470661, -0.003963243216276169, -0.012425177730619907], "max": [0.024847280234098434, 0.09047289937734604, 0.3147456645965576, 2.0186548681522254e-06, 0.0003584171936381608, 0.0004225945449434221, 0.2332470864057541, 0.3024958670139313, 1.3429880142211914, 1.4569416180165717e-06, 0.0021467574406415224, 0.003403871087357402, 1.1877458095550537, 1.083073616027832, 2.977642059326172, 1.4911165635567158e-06, 0.005648280959576368, 0.014525840058922768, 0.05641340836882591, 0.032016389071941376, 0.08454768359661102, 1.0905142744377372e-06, 0.00042077002581208944, 0.0010187536245211959, 0.6510047316551208, 0.07117006182670593, 0.22468161582946777, 1.6120338841574267e-06, 0.0024106078781187534, 0.012245950289070606, 5.4558587074279785, 5.788533687591553, 11.314811706542969, 1.710239644125977e-06, 0.03323439508676529, 0.050026919692754745, 0.05630556866526604, 0.021046742796897888, 0.06911914795637131, 1.5085486211319221e-06, 0.00036068473127670586, 0.0009614049922674894, 0.04006250575184822, 0.026595378294587135, 0.08800730109214783, 1.9488225007080473e-06, 0.0004987521097064018, 0.0006887647905386984, 0.13680574297904968, 1.0072778463363647, 1.9844402074813843, 2.2530200567416614e-06, 0.004436202347278595, 0.001845459919422865, 0.06617996096611023, 0.1349937617778778, 0.42185258865356445, 2.221059503426659e-06, 0.000772115308791399, 0.0012253919849172235], "mean": [-0.0020012627355754375, 0.0026510790921747684, 0.00841312762349844, -0.00013588940782938153, -1.666291973378975e-05, -2.729870902840048e-05, 0.015847649425268173, 0.03844679519534111, 0.13520853221416473, -0.0018875065725296736, 7.399760943371803e-05, 0.0001912254811031744, 0.3425561189651489, 0.4023299515247345, 1.2478904724121094, -0.013849953189492226, 0.0017768663819879293, 0.0033055373933166265, 0.0002897576196119189, 0.001154575147666037, 0.0033525843173265457, -5.8081823226530105e-05, 1.0773791473184247e-05, 7.0339096964744385e-06, 0.1952640861272812, 0.013834456913173199, 0.03634212166070938, -0.0006494144327007234, 0.0002548190241213888, 0.003496075514703989, 1.0582752227783203, 1.6481695175170898, 3.338367462158203, -0.036006391048431396, 0.011150870472192764, 0.006234091240912676, 0.0012862798757851124, 0.0022510848939418793, 0.007024490740150213, -0.00012736822827719152, 2.7335481718182564e-05, 1.6501862774020992e-05, 0.003923100419342518, 0.005782938562333584, 0.017003359273076057, -0.0003185791429132223, 8.951350173447281e-05, 4.2574916733428836e-05, -0.06724324077367783, 0.06029965728521347, 0.1598948836326599, -0.0016000192845240235, 0.0002382151287747547, -0.00075155048398301, -0.04219948872923851, 0.009307323023676872, 0.02924850583076477, -0.0005369826103560627, -0.00022581622761208564, -0.0007088418933562934], "std": [0.007815750315785408, 0.0072595467790961266, 0.02427845448255539, 0.00031922152265906334, 9.612459689378738e-05, 0.00010106657282449305, 0.04039274528622627, 0.062435876578092575, 0.23364482820034027, 0.003305175807327032, 0.0002406737912679091, 0.0005895730573683977, 0.39635294675827026, 0.38056400418281555, 1.1981698274612427, 0.013179115019738674, 0.00195500161498785, 0.004234597086906433, 0.0058875251561403275, 0.0036187353543937206, 0.01027965173125267, 0.00017323439533356577, 4.446965249371715e-05, 7.400369213428348e-05, 0.2276424765586853, 0.014590052887797356, 0.03602595999836922, 0.0006495224079117179, 0.0003032396489288658, 0.004092558287084103, 1.3549164533615112, 2.00618577003479, 3.884047269821167, 0.04211708903312683, 0.013267753645777702, 0.011408188380300999, 0.004639138001948595, 0.003488200716674328, 0.011205225251615047, 0.00021243293303996325, 5.5882239394122735e-05, 7.409887621179223e-05, 0.0062927622348070145, 0.005436832085251808, 0.016682162880897522, 0.0003230357833672315, 9.591066191205755e-05, 9.738502558320761e-05, 0.20165346562862396, 0.18049398064613342, 0.4434092342853546, 0.0044145104475319386, 0.0008714799187146127, 0.002317890990525484, 0.13773879408836365, 0.024991238489747047, 0.08092646300792694, 0.0015013670781627297, 0.0007424963405355811, 0.002348594833165407], "count": [707]}, "timestamp": {"min": [0.0], "max": [23.533333333333335], "mean": [11.766666666666666], "std": [6.803103866781854], "count": [707]}, "frame_index": {"min": [0], "max": [706], "mean": [353.0], "std": [204.09311600345563], "count": [707]}, "episode_index": {"min": [16], "max": [16], "mean": [16.0], "std": [0.0], "count": [707]}, "index": {"min": [11065], "max": [11771], "mean": [11418.0], "std": [204.09311600345563], "count": [707]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [707]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5356521606445312]], [[0.5351317524909973]], [[0.5371202230453491]]], "std": [[[0.2853028178215027]], [[0.2854854166507721]], [[0.28637465834617615]]], "count": [707]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2259667068719864]], [[0.22541150450706482]], [[0.22038953006267548]]], "std": [[[0.14792168140411377]], [[0.14813730120658875]], [[0.14942491054534912]]], "count": [707]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29769617319107056]], [[0.29891788959503174]], [[0.29857444763183594]]], "std": [[[0.1692945808172226]], [[0.17113260924816132]], [[0.17068639397621155]]], "count": [707]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5361724495887756]], [[0.5359615087509155]], [[0.5376730561256409]]], "std": [[[0.2893857955932617]], [[0.28954368829727173]], [[0.2903922498226166]]], "count": [707]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.47843137383461]], [[0.47843137383461]], [[0.47843137383461]]], "mean": [[[0.0010556939523667097]], [[0.0010556939523667097]], [[0.0010556939523667097]]], "std": [[[0.017889145761728287]], [[0.017889145761728287]], [[0.017889145761728287]]], "count": [707]}, "observation.images.tactile_raw": {"min": [[[0.07450980693101883]], [[0.07450980693101883]], [[0.07450980693101883]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5078460574150085]], [[0.5078460574150085]], [[0.5078460574150085]]], "std": [[[0.23636986315250397]], [[0.23636986315250397]], [[0.23636986315250397]]], "count": [707]}}}
+{"episode_index": 17, "stats": {"observation.state": {"min": [0.9528700113296509, -0.8534465432167053, -0.23146164417266846, 1.1150113344192505, -0.9279730319976807, -0.7700357437133789, 0.15035371482372284, 0.01548691000789404, -0.2899419665336609, -0.025809114798903465, -0.06592068076133728, 0.013698890805244446, 0.015014455653727055, -0.14219243824481964, 0.011121219024062157, 0.010309582576155663, 0.003265867941081524, -0.15667851269245148, 0.013947084546089172, 0.009898529388010502, -0.00555219454690814, -0.04074471443891525, 0.014279664494097233, 0.010762760415673256, 0.03801984712481499, -0.010423891246318817, -0.03548813238739967, 0.018453223630785942, 0.0034116958267986774, 0.92717444896698, -0.8731172680854797, -0.23366901278495789, 0.943230390548706, -2.2329964637756348, -0.7695232629776001, -0.057122208178043365, 0.01235577929764986, -0.2792101204395294, 0.019651217386126518, -0.1362764537334442, 0.011314100585877895, 0.015193534083664417, -0.16192330420017242, 0.009161194786429405, 0.009731358848512173, -0.0031105841044336557, -0.07871077209711075, 0.018440814688801765, 0.005991973448544741, -0.00915340892970562, -0.016470395028591156, 0.010206446051597595, 0.009611191228032112, 0.02201920747756958, -0.0533011294901371, -0.02317090705037117, 0.011027968488633633, 0.006114801857620478, 0.5621080994606018, -1.1069588661193848, 0.5441796779632568, 9.58738019107841e-05, -0.013997574336826801, 0.00028762139845639467, -0.7982452511787415], "max": [1.258725881576538, -0.5573381185531616, 9.946906175173353e-06, 1.5700209140777588, 0.05601402744650841, -0.4283060133457184, 0.5200217366218567, 1.2943298816680908, 0.0002453596389386803, 0.24325817823410034, 0.15434519946575165, 0.17482112348079681, 0.7091439962387085, 0.0016512090805917978, 0.4548836052417755, 0.5162626504898071, 0.7415637373924255, 0.02518591843545437, 0.3491706848144531, 0.3220483064651489, 0.4681571125984192, 0.07093184441328049, 0.3466426432132721, 0.4131534993648529, 0.19621627032756805, 0.0474192313849926, -0.001473848009482026, 0.6827126145362854, 1.316392183303833, 1.3436963558197021, -0.5466738939285278, -0.0002508298202883452, 1.5698692798614502, 0.2250160425901413, -0.04906785115599632, 0.6431063413619995, 1.5439629554748535, 0.009353828616440296, 0.284777969121933, 0.1531580090522766, 0.6434507966041565, 0.7285784482955933, 0.12649676203727722, 0.4133490324020386, 0.4788683354854584, 0.7864407300949097, 0.16634610295295715, 0.6988735198974609, 0.39932891726493835, 0.7882077693939209, 0.16924864053726196, 0.3379356563091278, 0.4443035125732422, 0.04493429884314537, 0.20185138285160065, 0.13884955644607544, 0.8072279691696167, 1.2915458679199219, 0.5626833438873291, -1.106767177581787, 0.5531918406486511, 0.005560680292546749, -0.00047936898772604764, 0.1522475928068161, -0.601991593837738], "mean": [1.0594195127487183, -0.7065742611885071, -0.22041015326976776, 1.3759957551956177, -0.6784719824790955, -0.5183715224266052, 0.296409010887146, 1.1190961599349976, -0.20786118507385254, 0.10899684578180313, 0.087373748421669, 0.166322261095047, 0.40131446719169617, -0.05243263766169548, 0.36331918835639954, 0.4225394129753113, 0.48289576172828674, -0.03542209044098854, 0.26675647497177124, 0.2535344064235687, 0.2298475056886673, 0.017355330288410187, 0.20097574591636658, 0.2378983050584793, 0.09423433244228363, 0.03405020013451576, -0.02939709648489952, 0.2872968316078186, 0.9236541390419006, 1.152922511100769, -0.7163292765617371, -0.22077392041683197, 1.307827115058899, -0.8137505650520325, -0.29823818802833557, 0.3562399744987488, 1.2657908201217651, -0.14113788306713104, 0.17177018523216248, -0.02225527912378311, 0.37968936562538147, 0.4794068932533264, 0.016401495784521103, 0.2926555275917053, 0.34872689843177795, 0.4534737169742584, 0.06229831650853157, 0.4718398451805115, 0.2997507154941559, 0.37043944001197815, 0.10113690048456192, 0.19104120135307312, 0.2358831912279129, 0.023530174046754837, 0.06939065456390381, 0.062169864773750305, 0.40903571248054504, 0.9012908339500427, 0.5623094439506531, -1.1068681478500366, 0.5525019764900208, 0.004842238035053015, -0.01246006041765213, 0.05858316645026207, -0.7665578722953796], "std": [0.0687066838145256, 0.07763707637786865, 0.04374135658144951, 0.12800951302051544, 0.28169262409210205, 0.07798732072114944, 0.11886313557624817, 0.29168397188186646, 0.061047811061143875, 0.06411112844944, 0.04636339098215103, 0.031177300959825516, 0.17894171178340912, 0.04420275613665581, 0.12128598988056183, 0.11942080408334732, 0.26309940218925476, 0.053851865231990814, 0.10159283131361008, 0.09160896390676498, 0.18535712361335754, 0.04192417487502098, 0.13143298029899597, 0.1561587154865265, 0.05415239930152893, 0.011345572769641876, 0.005937481764703989, 0.18158617615699768, 0.4943304657936096, 0.14558564126491547, 0.06939707696437836, 0.04050375521183014, 0.19353154301643372, 0.8235141038894653, 0.1488102525472641, 0.27283355593681335, 0.33391013741493225, 0.08639021962881088, 0.05595148727297783, 0.09566329419612885, 0.2119807004928589, 0.215524822473526, 0.08458893746137619, 0.08343640714883804, 0.09934578090906143, 0.2848460078239441, 0.07424401491880417, 0.10588165372610092, 0.062440577894449234, 0.35792574286460876, 0.05324467644095421, 0.13716275990009308, 0.17916101217269897, 0.0048763020895421505, 0.0816989541053772, 0.04459725320339203, 0.3014940023422241, 0.444584459066391, 8.325895760208368e-05, 1.003699617285747e-05, 0.0014596161199733615, 0.0008898655069060624, 0.0021570941898971796, 0.046766772866249084, 0.03545476496219635], "count": [630]}, "observation.state.joint_torque": {"min": [-33.125999450683594, -17.566499710083008, -18.55900001525879, -13.258000373840332, -0.09920000284910202, -2.251199960708618, 1.079200029373169, -1.5065829753875732, -0.5730873942375183, -0.5654237866401672, -0.45358166098594666, -0.08965382725000381, -0.45862388610839844, -0.5497730374336243, -0.10957689583301544, -0.022118592634797096, -0.35404229164123535, -0.8059499859809875, -0.13448072969913483, -0.02354559674859047, -0.2964744567871094, -0.3022312521934509, -0.151083305478096, -0.03424813970923424, -0.09279802441596985, -0.400096595287323, -0.3665153384208679, -0.13116022944450378, -0.20976987481117249, 19.40250015258789, -8.137499809265137, 6.436999797821045, -10.414999961853027, -1.874400019645691, -2.0216000080108643, -2.646399974822998, -1.100327730178833, -0.6978930830955505, -0.3566519021987915, -0.7356722354888916, -0.1145576685667038, -0.40777233242988586, -0.6255706548690796, -0.1062563955783844, -0.020691584795713425, -0.36555588245391846, -0.6639492511749268, -0.15440380573272705, -0.022832093760371208, -0.23410926759243011, -0.9479506611824036, -0.151083305478096, -0.019264578819274902, -0.08048360049724579, -0.40585336089134216, -0.4499887228012085, -0.11289741843938828, -0.20049433410167694, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-20.834999084472656, 20.45400047302246, -8.755000114440918, 7.85699987411499, 2.6816000938415527, 2.0992000102996826, 3.2344000339508057, 0.7195430397987366, 1.565165400505066, 0.4858916401863098, 0.6039471626281738, 0.10127562284469604, 0.6111787557601929, 0.39146143198013306, 0.09131408482789993, 0.03424813970923424, 0.6409221291542053, 0.3175826668739319, 0.12617947161197662, 0.026399608701467514, 0.2887987196445465, 0.26193374395370483, 0.11621791869401932, 0.020691584795713425, 0.0620119534432888, 0.31374481320381165, 0.23314981162548065, 0.17930765450000763, 0.19621331989765167, 37.44599914550781, 20.34000015258789, 17.941999435424805, 6.809999942779541, 0.7919999957084656, 2.8264000415802, 1.2552000284194946, 1.05575430393219, 2.3432905673980713, 1.2663006782531738, 0.7692248225212097, 0.39514094591140747, 1.1024243831634521, 0.47493481636047363, 0.20753200352191925, 0.050658710300922394, 1.2664927244186401, 0.6178949475288391, 0.1959102302789688, 0.02925362065434456, 1.2914388179779053, 0.22931194305419922, 0.3718973398208618, 0.04138316959142685, 0.04793832078576088, 0.5094755291938782, 0.4845294654369354, 0.1942499577999115, 0.12629002332687378, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-25.711938858032227, 2.231675148010254, -12.921682357788086, -3.804450035095215, 0.4867022931575775, 0.8782923221588135, 2.040022373199463, -0.12587103247642517, 0.5842115879058838, 0.12192576378583908, 0.19065231084823608, 0.02980293147265911, 0.20008336007595062, 0.07121963053941727, 0.015258551575243473, 0.012728627771139145, 0.21627674996852875, -0.06883010268211365, 0.0423971451818943, 0.0060104019939899445, 0.06406483799219131, 0.05144857242703438, 0.03885530307888985, 0.008283424191176891, -0.034543927758932114, -0.001931035309098661, -0.05874050781130791, 0.004648696165531874, 0.008302710950374603, 26.225868225097656, 2.3816282749176025, 12.903413772583008, -2.603618621826172, -0.2865729331970215, 0.6948009729385376, -1.1357861757278442, 0.1191456988453865, 0.6604512333869934, 0.44339749217033386, -0.055733636021614075, 0.04556220769882202, 0.28052154183387756, -0.07830291986465454, 0.020513392984867096, -0.003730599768459797, 0.3377417027950287, -0.14414964616298676, 0.0749170333147049, 0.012410398572683334, 0.40101921558380127, -0.21523071825504303, 0.07608987390995026, 0.008993533439934254, -0.018917035311460495, -0.04322308301925659, 0.006830462254583836, 0.016642099246382713, 0.00870697945356369, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.4371273517608643, 2.163311719894409, 1.162936806678772, 1.3243128061294556, 0.3171459138393402, 0.5307010412216187, 0.46926361322402954, 0.2155301421880722, 0.7151281237602234, 0.3003227710723877, 0.1965043842792511, 0.01859232597053051, 0.238264799118042, 0.1995527744293213, 0.038906048983335495, 0.009546716697514057, 0.29122820496559143, 0.17428085207939148, 0.0664474368095398, 0.008289368823170662, 0.13868854939937592, 0.10575386136770248, 0.059129029512405396, 0.011396982707083225, 0.024066036567091942, 0.2267383486032486, 0.06920014321804047, 0.05838495492935181, 0.018930301070213318, 2.1818344593048096, 2.491767406463623, 2.280158042907715, 1.2045376300811768, 0.3939204216003418, 1.0598245859146118, 1.066272497177124, 0.5257242918014526, 0.8018703460693359, 0.5501886010169983, 0.3610328137874603, 0.14533184468746185, 0.4121434986591339, 0.20440027117729187, 0.04544839635491371, 0.009193310514092445, 0.49956807494163513, 0.21818840503692627, 0.06524451076984406, 0.00770400557667017, 0.5358948707580566, 0.30668288469314575, 0.1546165496110916, 0.016826236620545387, 0.01746612787246704, 0.18655292689800262, 0.20426255464553833, 0.05659455806016922, 0.021036317571997643, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [630]}, "observation.state.tcp": {"min": [0.32565954327583313, 0.12880557775497437, 0.9018062353134155, -1.2116388082504272, 1.2183476686477661, -1.3115719556808472, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3474476933479309, -0.28267842531204224, 0.8828511834144592, -1.1158885955810547, 1.2176237106323242, 0.41750311851501465, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.404763787984848, 0.23636648058891296, 1.05568265914917, -0.23821872472763062, 1.905142903327942, -0.8640143871307373, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4219158887863159, -0.09714923053979874, 1.0979310274124146, 1.2466424703598022, 1.8355836868286133, 1.5599782466888428, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3489033877849579, 0.17716877162456512, 0.968559741973877, -0.47395479679107666, 1.7407768964767456, -1.0784505605697632, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.37065383791923523, -0.2075001746416092, 1.005295753479004, 0.3089950680732727, 1.5248819589614868, 1.0593947172164917, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.017874862998723984, 0.035166867077350616, 0.03982868790626526, 0.2671809792518616, 0.1752042919397354, 0.097182996571064, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.017332226037979126, 0.0591084286570549, 0.07268425077199936, 0.8288635611534119, 0.18233522772789001, 0.3747001588344574, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [630]}, "action": {"min": [0.9528897404670715, -0.8534685969352722, -0.23134347796440125, 1.115012288093567, -0.9279625415802002, -0.7699999809265137, 0.15033012628555298, 0.0, -0.29167208075523376, -0.04295571520924568, -0.05865876004099846, 0.0, 0.0, -0.1426236629486084, 0.0, 0.0, 0.0, -0.16026116907596588, 0.0, 0.0, 0.0, -0.09452202916145325, 0.0, 0.0, 0.0, 0.0, -0.13100665807724, 0.0, 0.0, 0.9271955490112305, -0.8731226921081543, -0.23364579677581787, 0.9432064890861511, -2.232996702194214, -0.7683809995651245, -0.05723666027188301, 0.0, -0.28226137161254883, 0.0, -0.14348618686199188, 0.0, 0.0, -0.1690967082977295, 0.0, 0.0, 0.0, -0.09377912431955338, 0.0, 0.0, 0.0, -0.019645433872938156, 0.0, 0.0, -9.99999993922529e-09, -0.0007806293433532119, -0.04304191470146179, 0.0, 0.0, 0.5622998476028442, -1.1068999767303467, 0.5442000031471252, -2.604574614018689e-19, -0.014355521649122238, -3.548869939238812e-18, -0.7984436750411987], "max": [1.2587271928787231, -0.5571226477622986, -1.1645710408011566e-18, 1.5700000524520874, 0.055990301072597504, -0.42826828360557556, 0.5199999809265137, 1.2999510765075684, 0.0, 0.2681397795677185, 0.15378206968307495, 0.18680022656917572, 0.706047534942627, 0.014519218355417252, 0.47418349981307983, 0.5327156782150269, 0.8042246699333191, 0.02535059116780758, 0.38007912039756775, 0.3367842435836792, 0.48343196511268616, 0.07819033414125443, 0.36891260743141174, 0.42922624945640564, 0.19978652894496918, 0.06096035987138748, 0.0, 0.6955649256706238, 1.381496787071228, 1.3436713218688965, -0.5466724038124084, -0.0008089172770269215, 1.5689955949783325, 0.22513622045516968, -0.04908738657832146, 0.6432173252105713, 1.5839152336120605, 0.08983559161424637, 0.2920433282852173, 0.1524592638015747, 0.7265979647636414, 0.7854190468788147, 0.12632445991039276, 0.4652235209941864, 0.4921504855155945, 0.9062494039535522, 0.15577934682369232, 0.7183886170387268, 0.41344547271728516, 0.9823192358016968, 0.16838981211185455, 0.43162083625793457, 0.4675406217575073, 0.04746571555733681, 0.1969495713710785, 0.13981357216835022, 0.818715512752533, 1.3827961683273315, 0.5626999735832214, -1.106863021850586, 0.5536289811134338, 0.005735644139349461, -6.143936990995605e-20, 0.15214847028255463, -0.6000000238418579], "mean": [1.0596461296081543, -0.7068262100219727, -0.2203967571258545, 1.3763025999069214, -0.6788010001182556, -0.518509566783905, 0.29650241136550903, 1.1152613162994385, -0.1781848967075348, 0.12462900578975677, 0.09497513622045517, 0.17389501631259918, 0.4180041551589966, -0.048426054418087006, 0.3638923168182373, 0.43134456872940063, 0.5055644512176514, -0.037439730018377304, 0.2766689658164978, 0.2590068578720093, 0.2353205531835556, 0.016882626339793205, 0.2121531367301941, 0.24779456853866577, 0.07722710818052292, 0.031228162348270416, -0.05755510553717613, 0.2911023199558258, 0.949960470199585, 1.1533448696136475, -0.7167648077011108, -0.22075316309928894, 1.3080480098724365, -0.8092879056930542, -0.29849666357040405, 0.35640838742256165, 1.2728266716003418, -0.10850778967142105, 0.2272253781557083, -0.024709109216928482, 0.39077597856521606, 0.5243304967880249, 0.013671458698809147, 0.29826676845550537, 0.34475430846214294, 0.5097604990005493, 0.05576286464929581, 0.4901595711708069, 0.31224310398101807, 0.4352574050426483, 0.0905667096376419, 0.21139182150363922, 0.24642932415008545, 0.0034162551164627075, 0.0666625052690506, 0.06270962953567505, 0.41448044776916504, 0.9208491444587708, 0.5623136162757874, -1.1068681478500366, 0.5525408387184143, 0.004884005058556795, -0.012494717724621296, 0.05861565098166466, -0.7665104866027832], "std": [0.06908401101827621, 0.07780396193265915, 0.04398374632000923, 0.12807337939739227, 0.2812489867210388, 0.07829158753156662, 0.11895371228456497, 0.29751816391944885, 0.09012678265571594, 0.0951002687215805, 0.049171630293130875, 0.03957312926650047, 0.20041237771511078, 0.04927753657102585, 0.13127002120018005, 0.1363118439912796, 0.29353052377700806, 0.05246185511350632, 0.11531874537467957, 0.0989200696349144, 0.1923639178276062, 0.05117488652467728, 0.14244063198566437, 0.16604949533939362, 0.06322097778320312, 0.024052001535892487, 0.030804526060819626, 0.20022563636302948, 0.5446511507034302, 0.14544135332107544, 0.06955600529909134, 0.04061180353164673, 0.19325107336044312, 0.8215192556381226, 0.14943158626556396, 0.27274808287620544, 0.3505614399909973, 0.11452938616275787, 0.06400475651025772, 0.09975351393222809, 0.24301941692829132, 0.25938063859939575, 0.08518318831920624, 0.09509719908237457, 0.10407990217208862, 0.3452499210834503, 0.07121719419956207, 0.12275838106870651, 0.0742836520075798, 0.43231773376464844, 0.04757874459028244, 0.16714772582054138, 0.19292578101158142, 0.008965331129729748, 0.07503030449151993, 0.04437509551644325, 0.30885767936706543, 0.45826172828674316, 6.890298391226679e-05, 6.923060482222354e-06, 0.0015293655451387167, 0.000927103974390775, 0.002304165158420801, 0.04682125151157379, 0.036303721368312836], "count": [630]}, "observation.state.tcp_pose": {"min": [0.32565954327583313, 0.12880557775497437, 0.9018062353134155, -1.2116388082504272, 1.2183476686477661, -1.3115719556808472, 0.3474476933479309, -0.28267842531204224, 0.8828511834144592, -1.1158885955810547, 1.2176237106323242, 0.41750311851501465], "max": [0.404763787984848, 0.23636648058891296, 1.05568265914917, -0.23821872472763062, 1.905142903327942, -0.8640143871307373, 0.4219158887863159, -0.09714923053979874, 1.0979310274124146, 1.2466424703598022, 1.8355836868286133, 1.5599782466888428], "mean": [0.3489033877849579, 0.17716877162456512, 0.968559741973877, -0.47395479679107666, 1.7407768964767456, -1.0784505605697632, 0.37065383791923523, -0.2075001746416092, 1.005295753479004, 0.3089950680732727, 1.5248819589614868, 1.0593947172164917], "std": [0.017874862998723984, 0.035166867077350616, 0.03982868790626526, 0.2671809792518616, 0.1752042919397354, 0.097182996571064, 0.017332226037979126, 0.0591084286570549, 0.07268425077199936, 0.8288635611534119, 0.18233522772789001, 0.3747001588344574], "count": [630]}, "action.tcp_pose": {"min": [0.3255726993083954, 0.12883765995502472, 0.901810884475708, -1.208855390548706, 1.2178406715393066, -1.3118470907211304, 0.34734877943992615, -0.28208738565444946, 0.8827545642852783, -1.115901231765747, 1.2183678150177002, 0.41729968786239624], "max": [0.4047532379627228, 0.23614470660686493, 1.0556666851043701, -0.23796670138835907, 1.9051456451416016, -0.8629533648490906, 0.4214390516281128, -0.09728066623210907, 1.098023772239685, 1.2480944395065308, 1.8354893922805786, 1.5599743127822876], "mean": [0.34891951084136963, 0.1771814525127411, 0.9686965942382812, -0.4733939468860626, 1.7406116724014282, -1.0785351991653442, 0.37082090973854065, -0.20780883729457855, 1.0054717063903809, 0.3134059011936188, 1.524888277053833, 1.0606697797775269], "std": [0.0179460309445858, 0.035134971141815186, 0.040048085153102875, 0.2665679156780243, 0.17562270164489746, 0.09694506227970123, 0.01748013310134411, 0.05912527069449425, 0.07261081784963608, 0.8271282315254211, 0.18196582794189453, 0.37304380536079407], "count": [630]}, "subtask_index": {"min": [0], "max": [4], "mean": [1.8682539682539683], "std": [1.3250127758384243], "count": [630]}, "observation.tactile": {"min": [-1.6983275413513184, -4.06774488510564e-05, -9.477909770794213e-05, -0.03277277573943138, -0.010461568832397461, -0.017074137926101685, -0.0324743427336216, -4.008362884633243e-05, -8.9854838734027e-05, -0.0026592412032186985, -0.00018606397497933358, -0.0005407429416663945, -0.08273930847644806, -3.280628880020231e-05, -6.999820470809937e-05, -0.01655680499970913, -0.004010941833257675, -0.0019186455756425858, -0.00413358211517334, -4.135550989303738e-05, -9.430082718608901e-05, -0.0005495353252626956, -1.039693052007351e-05, -0.00010330656368751079, -0.003761358093470335, -4.8430447350256145e-05, -0.00011141743743792176, -0.0032539907842874527, -3.8018271879991516e-05, -8.000490197446197e-05, -0.14034628868103027, -0.14381816983222961, -8.035779319470748e-05, -0.10416601598262787, -1.5002964346422232e-06, -0.01046757772564888, -0.009773673489689827, -3.0156821594573557e-05, -6.683113315375522e-05, -0.0011792924487963319, -4.2424009734531865e-05, -0.00022912331041879952, -1.2290407419204712, -4.154401540290564e-05, -9.423431765753776e-05, -0.026754923164844513, -0.004203114192932844, -0.013668522238731384, -1.04985773563385, -4.764143523061648e-05, -0.0001096689302357845, -0.018123142421245575, -0.0009075072593986988, -0.012383750639855862, -0.4121496081352234, -5.5751042964402586e-05, -0.00012800062540918589, -0.06607046723365784, -0.0029520231764763594, -0.008001020178198814], "max": [0.008251501247286797, 0.5754386782646179, 2.9923009872436523, 1.76273670149385e-06, 0.00018214913143310696, 8.061169501161203e-05, 0.06071212515234947, 0.0707162469625473, 0.21756231784820557, 1.6649598819640232e-06, 0.0004622902488335967, 0.0007562771206721663, 1.2220962047576904, 0.9281214475631714, 1.7448439598083496, 1.2853663520218106e-06, 0.002810349455103278, 0.014414237812161446, 0.0010359110310673714, 0.010508844628930092, 0.030555211007595062, 1.7211759768542834e-06, 0.00015731497842352837, 6.679296348011121e-06, 0.2307438850402832, 0.06728176027536392, 0.14591044187545776, 2.0829422737733694e-06, 0.000971452274825424, 0.004888754803687334, 2.6464600563049316, 3.443549394607544, 9.254594802856445, 1.5571242784062633e-06, 0.03574238717556, 0.025594722479581833, 0.004578765481710434, 0.019425686448812485, 0.055265653878450394, 1.2446830623957794e-06, 0.0001590008760103956, 3.9223818021127954e-05, 0.7371599078178406, 1.6999164819717407, 2.673654079437256, 1.7475259710408864e-06, 0.00707312673330307, 0.007969745434820652, 0.08568350970745087, 0.44573551416397095, 1.7251017093658447, 2.03193349079811e-06, 0.005732029210776091, 0.0010767824715003371, 2.2834579944610596, 4.6806960105896, 3.6608641147613525, 2.3480308755097212e-06, 0.01549439039081335, 0.02208399586379528], "mean": [-0.5035422444343567, 0.19472840428352356, 1.045490026473999, -0.011393101885914803, -0.003470710711553693, -0.004780368413776159, -0.0009849070338532329, 0.002407452091574669, 0.007101511582732201, -0.00014641776215285063, 5.525908363779308e-06, -2.3871056328061968e-05, 0.2271108776330948, 0.25945934653282166, 0.5218759775161743, -0.004737631417810917, 0.00033672619611024857, 0.0019124498357996345, 0.00010724456660682335, 0.0002615939301904291, 0.0007703606388531625, -1.6346770280506462e-05, 5.589906209024775e-07, 1.1893362170667388e-06, 0.03701169788837433, 0.008311035111546516, 0.02089310623705387, -0.00045403375406749547, 0.00013594439951702952, 0.0007585689309053123, 0.22791944444179535, 0.6563431024551392, 1.9137507677078247, -0.02130254916846752, 0.00831720232963562, -0.00016382212925236672, -0.0017642969032749534, 0.004160787910223007, 0.012115865014493465, -0.00024146064242813736, 8.24279231892433e-06, -3.756259320653044e-05, -0.19239448010921478, 0.1690365970134735, 0.6798663139343262, -0.006384106352925301, 0.0008141398429870605, -0.002046390436589718, -0.17816251516342163, 0.10231174528598785, 0.43224185705184937, -0.004340238869190216, 0.0007208596216514707, -0.0019867250230163336, 0.09995540231466293, 0.18201684951782227, 0.148616760969162, -0.0028796354308724403, 0.0005605523474514484, 0.0010531794978305697], "std": [0.5440279245376587, 0.21359160542488098, 1.1965076923370361, 0.013112754561007023, 0.0042078630067408085, 0.0052223652601242065, 0.0035252736415714025, 0.005049196071922779, 0.01501578651368618, 0.0002689574903342873, 3.028723585885018e-05, 6.26253749942407e-05, 0.326811283826828, 0.32926762104034424, 0.6439589858055115, 0.005757862236350775, 0.000708387466147542, 0.0029819482006132603, 0.0006115164724178612, 0.001004410325549543, 0.0028938972391188145, 5.946615419816226e-05, 1.1828309652628377e-05, 1.474513737775851e-05, 0.05741862580180168, 0.011144902557134628, 0.02693662792444229, 0.000592550728470087, 0.00018726949929259717, 0.001196057302877307, 0.5409788489341736, 1.0281533002853394, 2.8835384845733643, 0.032342616468667984, 0.012263063341379166, 0.005002286750823259, 0.0021933093667030334, 0.004656469449400902, 0.013493812642991543, 0.00027759483782574534, 1.552080357214436e-05, 4.68022444692906e-05, 0.418719619512558, 0.24377137422561646, 0.9409576058387756, 0.008961671032011509, 0.0024247784167528152, 0.0046494039706885815, 0.3127610385417938, 0.14888906478881836, 0.6327228546142578, 0.006406748667359352, 0.0016066496027633548, 0.003591325134038925, 0.3732168674468994, 0.7250714302062988, 0.5164616703987122, 0.009686852805316448, 0.002095649018883705, 0.003845212049782276], "count": [630]}, "timestamp": {"min": [0.0], "max": [20.966666666666665], "mean": [10.483333333333333], "std": [6.062170189577937], "count": [630]}, "frame_index": {"min": [0], "max": [629], "mean": [314.5], "std": [181.86510568733812], "count": [630]}, "episode_index": {"min": [17], "max": [17], "mean": [17.0], "std": [0.0], "count": [630]}, "index": {"min": [11772], "max": [12401], "mean": [12086.5], "std": [181.86510568733812], "count": [630]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [630]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5355907678604126]], [[0.5351932644844055]], [[0.5368978381156921]]], "std": [[[0.2832169532775879]], [[0.28322887420654297]], [[0.28399214148521423]]], "count": [630]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.22498978674411774]], [[0.22456668317317963]], [[0.22056865692138672]]], "std": [[[0.1492907702922821]], [[0.14972205460071564]], [[0.1508948653936386]]], "count": [630]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29676002264022827]], [[0.2991331219673157]], [[0.29976674914360046]]], "std": [[[0.16841597855091095]], [[0.17161551117897034]], [[0.1717432737350464]]], "count": [630]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5351662635803223]], [[0.53504878282547]], [[0.5365044474601746]]], "std": [[[0.2870176434516907]], [[0.28714773058891296]], [[0.28782162070274353]]], "count": [630]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.4627451002597809]], [[0.4627451002597809]], [[0.4627451002597809]]], "mean": [[[0.0008018251974135637]], [[0.0008018251974135637]], [[0.0008018251974135637]]], "std": [[[0.01395363174378872]], [[0.01395363174378872]], [[0.01395363174378872]]], "count": [630]}, "observation.images.tactile_raw": {"min": [[[0.08235294371843338]], [[0.08235294371843338]], [[0.08235294371843338]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5084286332130432]], [[0.5084286332130432]], [[0.5084286332130432]]], "std": [[[0.23632805049419403]], [[0.23632805049419403]], [[0.23632805049419403]]], "count": [630]}}}
+{"episode_index": 18, "stats": {"observation.state": {"min": [0.9964021444320679, -0.87613844871521, -0.23138350248336792, 1.097353219985962, -1.0811891555786133, -0.7700600028038025, 0.055055052042007446, 0.01011827401816845, -0.28831496834754944, -0.03412299603223801, -0.06634457409381866, 0.013870499096810818, 0.013590406626462936, -0.13078314065933228, 0.01464096549898386, 0.013053039088845253, 0.001058040070347488, -0.13943535089492798, 0.017659714445471764, 0.012965242378413677, -0.0005271802074275911, -0.042915988713502884, 0.01494305208325386, 0.010347273200750351, 0.03769659996032715, -0.009636186994612217, -0.035740070044994354, 0.011078671552240849, 0.003382429713383317, 0.9091433882713318, -0.879159152507782, -0.23347043991088867, 0.8414744138717651, -2.1187427043914795, -0.7683588862419128, -0.06816699355840683, 0.012358488515019417, -0.29375556111335754, 0.01963246613740921, -0.13232187926769257, 0.012242347002029419, 0.016849160194396973, -0.1587209701538086, 0.009164031594991684, 0.010428419336676598, 0.019288809970021248, -0.08422887325286865, 0.010490097105503082, 0.007128466386348009, -0.012669741176068783, -0.0111193573102355, 0.010260694660246372, 0.006087309680879116, 0.02210269495844841, -0.11995398253202438, -0.02973674051463604, 0.010746446438133717, 0.005215540062636137, 0.5621080994606018, -1.1069588661193848, 0.5442755818367004, 9.58738019107841e-05, -0.017161410301923752, 0.0, -0.8016967177391052], "max": [1.260158658027649, -0.5673062205314636, 1.2823121323890518e-05, 1.5700352191925049, 0.09176884591579437, -0.40111643075942993, 0.5200245380401611, 1.2906091213226318, -0.0015525578055530787, 0.30134227871894836, 0.15492402017116547, 0.20607973635196686, 0.6948573589324951, 0.08423475921154022, 0.4515290856361389, 0.504292905330658, 0.8612053394317627, 0.05908661335706711, 0.3835590183734894, 0.32965341210365295, 0.6675727367401123, 0.05678655207157135, 0.3696555495262146, 0.44646787643432617, 0.18199241161346436, 0.07581435143947601, -0.0015319871017709374, 0.7726290225982666, 1.2971410751342773, 1.2515665292739868, -0.4448694884777069, -0.0013582919491454959, 1.5686588287353516, 0.2849991023540497, -0.08503586798906326, 0.6308556199073792, 1.4937750101089478, 0.008740250021219254, 0.5080953240394592, 0.1538461148738861, 0.5393858551979065, 0.6796311736106873, 0.11291027814149857, 0.4452444314956665, 0.4942644238471985, 0.7313868403434753, 0.1744905263185501, 0.6757117509841919, 0.3869383633136749, 0.6667904853820801, 0.16783735156059265, 0.31836235523223877, 0.42027223110198975, 0.024134216830134392, 0.06796478480100632, 0.12333318591117859, 0.563284158706665, 1.2919187545776367, 0.5627791881561279, -1.106767177581787, 0.5533835887908936, 0.006423544604331255, 0.0, 0.18973425030708313, -0.6000741124153137], "mean": [1.0699938535690308, -0.7131346464157104, -0.21886679530143738, 1.3646491765975952, -0.791084349155426, -0.5276890993118286, 0.2317531555891037, 1.1069780588150024, -0.22159120440483093, 0.10786565393209457, 0.06079474836587906, 0.1772744208574295, 0.49240705370903015, -0.0028049256652593613, 0.3589283525943756, 0.418057382106781, 0.5711148977279663, -0.006517603527754545, 0.283090740442276, 0.2516387701034546, 0.3619592487812042, 0.011759609915316105, 0.2519770860671997, 0.31152424216270447, 0.1296468824148178, 0.04952258616685867, -0.029153527691960335, 0.4956882894039154, 1.0919923782348633, 1.1166976690292358, -0.682663083076477, -0.22014324367046356, 1.2664883136749268, -0.5791231393814087, -0.2911541759967804, 0.4011954069137573, 1.1861045360565186, -0.1398571878671646, 0.2412155717611313, -0.008266635239124298, 0.30727359652519226, 0.48648545145988464, 0.0240879338234663, 0.28654715418815613, 0.3514476418495178, 0.43531733751296997, 0.08279787003993988, 0.4998762607574463, 0.30072808265686035, 0.3369303047657013, 0.11617230623960495, 0.212997704744339, 0.2622935473918915, 0.022480035200715065, 0.01886553131043911, 0.0708693414926529, 0.2914019525051117, 0.7943438291549683, 0.5623142123222351, -1.1068708896636963, 0.5524304509162903, 0.004850106779485941, -0.012358203530311584, 0.05730527266860008, -0.7479300498962402], "std": [0.05793202295899391, 0.08418017625808716, 0.04658491164445877, 0.13715659081935883, 0.3729950189590454, 0.08366195857524872, 0.15157419443130493, 0.2887038290500641, 0.05765019357204437, 0.06474131345748901, 0.05090351030230522, 0.0362594835460186, 0.19125361740589142, 0.06144505366683006, 0.11409320682287216, 0.1088867112994194, 0.2874944806098938, 0.059522710740566254, 0.09755457937717438, 0.07510299235582352, 0.24704524874687195, 0.029447324573993683, 0.1203620433807373, 0.1523982137441635, 0.03766598924994469, 0.01903398334980011, 0.007468466181308031, 0.20824460685253143, 0.2713896334171295, 0.10770063102245331, 0.08933514356613159, 0.04183690622448921, 0.19903261959552765, 0.788514256477356, 0.13368602097034454, 0.25440043210983276, 0.3485404849052429, 0.08330580592155457, 0.14085108041763306, 0.09116773307323456, 0.17061279714107513, 0.21997520327568054, 0.08524081110954285, 0.09675459563732147, 0.11796745657920837, 0.2425399124622345, 0.07877501845359802, 0.13755667209625244, 0.06558285653591156, 0.2485424429178238, 0.05111493542790413, 0.12502074241638184, 0.16519154608249664, 0.00032354731229133904, 0.03456510230898857, 0.04926807060837746, 0.19804084300994873, 0.5269793272018433, 0.00010563113755779341, 1.9399136363063008e-05, 0.0016348970821127295, 0.001015745452605188, 0.002515945350751281, 0.059752579778432846, 0.04137955233454704], "count": [566]}, "observation.state.joint_torque": {"min": [-32.644500732421875, -22.160999298095703, -18.694000244140625, -16.344999313354492, -0.3176000118255615, -3.030400037765503, 0.7039999961853027, -0.8430752158164978, -0.31456127762794495, -0.5641810894012451, -0.6611108779907227, -0.09297433495521545, -0.45574548840522766, -0.8347339034080505, -0.11787818372249603, -0.025686107575893402, -0.39913713932037354, -0.6025435328483582, -0.12783971428871155, -0.01783757284283638, -0.33485302329063416, -0.39625874161720276, -0.12783971428871155, -0.02497260272502899, -0.08268260210752487, -0.3665153682231903, -0.3310151696205139, -0.18926919996738434, -0.051372215151786804, 12.824999809265137, -10.636500358581543, 1.7089999914169312, -8.75, -2.01200008392334, -3.196000099182129, -2.850399971008301, -1.0175485610961914, -0.7195430397987366, -0.3404969573020935, -0.4498536288738251, -0.0979551151394844, -0.3022312521934509, -0.6438004970550537, -0.11953844130039215, -0.032821137458086014, -0.38954246044158936, -0.5564892292022705, -0.1145576685667038, -0.015697065740823746, -0.5564892888069153, -0.378028929233551, -0.22579483687877655, -0.03638865053653717, -0.0228696558624506, -0.31182587146759033, -0.5526514053344727, -0.3735576272010803, -0.18337026238441467, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-21.033000946044922, 19.56450080871582, -10.385000228881836, 8.680999755859375, 3.143199920654297, 2.523200035095215, 3.266400098800659, 1.3448450565338135, 1.8402472734451294, 0.9295318126678467, 1.0500727891921997, 0.09297433495521545, 0.9719372391700745, 0.31278538703918457, 0.3005063533782959, 0.04423718526959419, 1.040059208869934, 0.4135291278362274, 0.2108525186777115, 0.039242662489414215, 0.3386908769607544, 0.2772851586341858, 0.12451920658349991, 0.021405089646577835, 0.05277612805366516, 0.33485302329063416, 0.13432499766349792, 0.12617947161197662, 0.06778278201818466, 38.44499969482422, 22.159500122070312, 18.99799919128418, 8.071999549865723, 0.9455999732017517, 2.913599967956543, 2.984800100326538, 1.3601272106170654, 2.3509316444396973, 0.6586254239082336, 0.7170318365097046, 0.2739422619342804, 1.136965036392212, 0.5756785273551941, 0.1593845784664154, 0.03567514568567276, 1.0745999813079834, 0.6198139190673828, 0.13116022944450378, 0.021405089646577835, 0.5315431356430054, 0.9009369015693665, 0.2108525186777115, 0.04352368041872978, -0.018471647053956985, 0.8462474346160889, 0.9009369015693665, 0.10127562284469604, 0.10631193965673447, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-26.021406173706055, 2.3787050247192383, -12.964580535888672, -3.6635677814483643, 0.46549662947654724, 1.1138314008712769, 1.8253461122512817, 0.44688498973846436, 0.8209185600280762, 0.34770703315734863, 0.49289125204086304, -0.010281268507242203, 0.3497758209705353, -0.04385904595255852, 0.08631867915391922, 0.023154808208346367, 0.40725162625312805, -0.00802999921143055, 0.054184217005968094, 0.015386972576379776, 0.08055604994297028, 0.07027649879455566, 0.03241315484046936, 0.006563968025147915, -0.015425671823322773, 0.038790564984083176, -0.07339560985565186, 0.017426803708076477, 0.01228837389498949, 25.885684967041016, 2.4334099292755127, 12.281547546386719, -2.522221088409424, -0.36103907227516174, 0.4810952842235565, -1.1546964645385742, 0.2267216444015503, 0.6688562035560608, 0.23474088311195374, 0.01388914231210947, 0.0627816841006279, 0.31063568592071533, 0.026305610314011574, 0.03466004878282547, -0.0006340857944451272, 0.27641385793685913, -0.10551396012306213, 0.028368070721626282, 0.003897798014804721, 0.03636642545461655, 0.013129062950611115, 0.007787979207932949, 0.003205725224688649, -0.019725028425455093, 0.02206261456012726, 0.11742246150970459, 0.001707184361293912, 0.003813322866335511, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.5768508911132812, 2.303929567337036, 1.0507011413574219, 1.5398132801055908, 0.3353387117385864, 0.7081971168518066, 0.5431317090988159, 0.5932654142379761, 0.8402879238128662, 0.4969242215156555, 0.5058431625366211, 0.02203267812728882, 0.3906131684780121, 0.1839696168899536, 0.09440871328115463, 0.018776910379529, 0.4866074025630951, 0.1586974859237671, 0.09232472628355026, 0.017554229125380516, 0.1741495281457901, 0.13928554952144623, 0.06978638470172882, 0.011456879787147045, 0.02430686540901661, 0.2412686049938202, 0.057192493230104446, 0.05519227311015129, 0.00930013321340084, 2.8755013942718506, 2.8553781509399414, 2.6672770977020264, 1.6445802450180054, 0.48422279953956604, 1.2183942794799805, 1.1333063840866089, 0.6470533609390259, 0.8483706116676331, 0.3001146614551544, 0.27616479992866516, 0.10427151620388031, 0.4471730887889862, 0.2080618441104889, 0.04235827177762985, 0.01055070199072361, 0.45047324895858765, 0.18887834250926971, 0.059685926884412766, 0.009507807902991772, 0.13753779232501984, 0.17440010607242584, 0.07705565541982651, 0.01251939032226801, 0.0006752490298822522, 0.1951218843460083, 0.23715849220752716, 0.07589258253574371, 0.02814348228275776, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [566]}, "observation.state.tcp": {"min": [0.3258790373802185, 0.1286800503730774, 0.917569637298584, -1.2120121717453003, 1.2178561687469482, -1.3561069965362549, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3463404178619385, -0.27473166584968567, 0.8717512488365173, -0.9767665863037109, 1.2125990390777588, 0.4909874498844147, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.40402525663375854, 0.25419560074806213, 1.0575276613235474, -0.10772635787725449, 1.9061461687088013, -0.6893786787986755, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4274625778198242, -0.10625872015953064, 1.054599404335022, 1.350368857383728, 1.8290820121765137, 1.644785761833191, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.35492339730262756, 0.18448029458522797, 0.9722612500190735, -0.3869415521621704, 1.7313863039016724, -0.9850519895553589, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.37308037281036377, -0.2053041011095047, 0.9861831665039062, 0.5461190938949585, 1.5385463237762451, 1.1530414819717407, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.022900965064764023, 0.03761044889688492, 0.036422114819288254, 0.3481132388114929, 0.1816258281469345, 0.15457239747047424, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.019376343116164207, 0.052074648439884186, 0.05747634917497635, 0.7932004332542419, 0.17140144109725952, 0.32775574922561646, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [566]}, "action": {"min": [0.996416449546814, -0.8761906623840332, -0.23134347796440125, 1.0972756147384644, -1.0811688899993896, -0.7699999809265137, 0.05493569001555443, 0.0, -0.28938403725624084, -0.05228962004184723, -0.07414759695529938, 0.0, 0.0, -0.14744676649570465, 0.0, 0.0, 0.0, -0.14027097821235657, 0.0, 0.0, 0.0, -0.10842475295066833, 0.0, 0.0, 0.0, 0.0, -0.11644583940505981, 0.0, 0.0, 0.9091712832450867, -0.8794503808021545, -0.233452707529068, 0.841388463973999, -2.1187150478363037, -0.7668043375015259, -0.06835801899433136, 0.0, -0.2900431752204895, 0.0, -0.13970692455768585, 0.0, 0.0, -0.16784460842609406, 0.0, 0.0, 0.0, -0.09624812006950378, 0.0, 0.0, 0.0, -0.01795879565179348, 0.0, 0.0, -9.94437954204841e-09, -0.0002853630867321044, -0.02361120469868183, 0.0, 0.0, 0.5622998476028442, -1.1068999767303467, 0.5442000031471252, -6.029292601529111e-19, -0.019184090197086334, -3.4254818888061145e-18, -0.8018324375152588], "max": [1.2601652145385742, -0.5671893954277039, 3.700182573175534e-19, 1.5700000524520874, 0.09175122529268265, -0.40094423294067383, 0.5199999809265137, 1.3501524925231934, 0.0, 0.3201594054698944, 0.15786148607730865, 0.2294793426990509, 0.7686867713928223, 0.08124690502882004, 0.5271381139755249, 0.5415560603141785, 0.994093120098114, 0.05971672758460045, 0.4043591618537903, 0.34661704301834106, 0.6709592342376709, 0.06035760045051575, 0.3836657702922821, 0.46333256363868713, 0.20382235944271088, 0.09330445528030396, 0.0, 0.7846850752830505, 1.3728889226913452, 1.2515366077423096, -0.4448544383049011, -0.0019817345310002565, 1.5676839351654053, 0.2857998013496399, -0.08456069231033325, 0.6310413479804993, 1.554481029510498, 0.08691153675317764, 0.5070412158966064, 0.1569017618894577, 0.5922347903251648, 0.7807105183601379, 0.12694767117500305, 0.485944926738739, 0.5077351331710815, 0.8035815954208374, 0.16381612420082092, 0.6971733570098877, 0.404737263917923, 0.6722234487533569, 0.16917987167835236, 0.34242841601371765, 0.43518006801605225, 4.181576059636427e-06, 0.0633276030421257, 0.1329193264245987, 0.5754472017288208, 1.391001582145691, 0.562764048576355, -1.106863021850586, 0.5543385148048401, 0.007149985525757074, 4.744990785976083e-19, 0.18980543315410614, -0.6000000238418579], "mean": [1.0701943635940552, -0.7133267521858215, -0.2188863456249237, 1.364854097366333, -0.7905699610710144, -0.5274773240089417, 0.2320113480091095, 1.128395676612854, -0.17946019768714905, 0.15411141514778137, 0.07977842539548874, 0.17413035035133362, 0.5441524386405945, -0.003233902622014284, 0.3804820477962494, 0.4409962296485901, 0.6375316977500916, -0.005735317245125771, 0.29825663566589355, 0.2688138782978058, 0.36905768513679504, 0.011225055903196335, 0.26232048869132996, 0.32095274329185486, 0.12187916040420532, 0.050528839230537415, -0.058687474578619, 0.5046542286872864, 1.1033093929290771, 1.1172527074813843, -0.6835048794746399, -0.22018538415431976, 1.2671337127685547, -0.57140052318573, -0.2913791835308075, 0.40141481161117554, 1.195745825767517, -0.10531394183635712, 0.2721044719219208, -0.008350801654160023, 0.3225935697555542, 0.5392618775367737, 0.027399521321058273, 0.2962343990802765, 0.3516729176044464, 0.4828066825866699, 0.07872805744409561, 0.5081568956375122, 0.30382129549980164, 0.3411659896373749, 0.11742740869522095, 0.21719612181186676, 0.2679651081562042, 1.0389386773113074e-07, 0.023644786328077316, 0.07727566361427307, 0.29577991366386414, 0.8259696364402771, 0.5623190999031067, -1.1068676710128784, 0.5524685382843018, 0.0048928637988865376, -0.012394415214657784, 0.057345911860466, -0.7479296326637268], "std": [0.058331459760665894, 0.08428824692964554, 0.046667277812957764, 0.13705863058567047, 0.373661071062088, 0.08376011997461319, 0.15173321962356567, 0.3189408779144287, 0.08174010366201401, 0.11005302518606186, 0.058110494166612625, 0.044199079275131226, 0.2332993596792221, 0.060764946043491364, 0.13769274950027466, 0.13212844729423523, 0.34824424982070923, 0.060941558331251144, 0.11674126237630844, 0.09065800905227661, 0.2554084360599518, 0.042890116572380066, 0.13461482524871826, 0.1630132496356964, 0.04384079948067665, 0.032430969178676605, 0.02959372289478779, 0.2247443050146103, 0.29825037717819214, 0.1074712797999382, 0.08941012620925903, 0.04179070517420769, 0.19840732216835022, 0.783311665058136, 0.13420610129833221, 0.2539469599723816, 0.37408486008644104, 0.11944840848445892, 0.13733306527137756, 0.09537142515182495, 0.19182342290878296, 0.25995761156082153, 0.08941807597875595, 0.10779616981744766, 0.12387419492006302, 0.2896903157234192, 0.07782496511936188, 0.1510837972164154, 0.07809800654649734, 0.2492472231388092, 0.05182570964097977, 0.13665756583213806, 0.17255978286266327, 4.257755961134535e-07, 0.02147025428712368, 0.04848330840468407, 0.21273872256278992, 0.560089111328125, 8.062608685577288e-05, 7.3988867370644584e-06, 0.0017209623474627733, 0.0010742376325652003, 0.002699196571484208, 0.05986125022172928, 0.0418706014752388], "count": [566]}, "observation.state.tcp_pose": {"min": [0.3258790373802185, 0.1286800503730774, 0.917569637298584, -1.2120121717453003, 1.2178561687469482, -1.3561069965362549, 0.3463404178619385, -0.27473166584968567, 0.8717512488365173, -0.9767665863037109, 1.2125990390777588, 0.4909874498844147], "max": [0.40402525663375854, 0.25419560074806213, 1.0575276613235474, -0.10772635787725449, 1.9061461687088013, -0.6893786787986755, 0.4274625778198242, -0.10625872015953064, 1.054599404335022, 1.350368857383728, 1.8290820121765137, 1.644785761833191], "mean": [0.35492339730262756, 0.18448029458522797, 0.9722612500190735, -0.3869415521621704, 1.7313863039016724, -0.9850519895553589, 0.37308037281036377, -0.2053041011095047, 0.9861831665039062, 0.5461190938949585, 1.5385463237762451, 1.1530414819717407], "std": [0.022900965064764023, 0.03761044889688492, 0.036422114819288254, 0.3481132388114929, 0.1816258281469345, 0.15457239747047424, 0.019376343116164207, 0.052074648439884186, 0.05747634917497635, 0.7932004332542419, 0.17140144109725952, 0.32775574922561646], "count": [566]}, "action.tcp_pose": {"min": [0.32578182220458984, 0.12856802344322205, 0.9175658822059631, -1.208855390548706, 1.2178406715393066, -1.3549970388412476, 0.34733256697654724, -0.2769347131252289, 0.871552050113678, -0.9767524003982544, 1.2124195098876953, 0.49104514718055725], "max": [0.40406984090805054, 0.2531210482120514, 1.0575743913650513, -0.106758251786232, 1.9062271118164062, -0.6886497139930725, 0.42732664942741394, -0.10621839016675949, 1.0529321432113647, 1.350473403930664, 1.829096794128418, 1.6460281610488892], "mean": [0.35494428873062134, 0.18449652194976807, 0.9723401665687561, -0.38722774386405945, 1.7313377857208252, -0.9854235053062439, 0.37326398491859436, -0.20578114688396454, 0.986362099647522, 0.5540727972984314, 1.5394396781921387, 1.1551623344421387], "std": [0.022943556308746338, 0.03759229928255081, 0.036617789417505264, 0.34875747561454773, 0.1818745881319046, 0.15481549501419067, 0.019497668370604515, 0.05205496773123741, 0.0573042556643486, 0.787891149520874, 0.17190080881118774, 0.3251500427722931], "count": [566]}, "subtask_index": {"min": [0], "max": [4], "mean": [1.8763250883392226], "std": [1.3537950558811227], "count": [566]}, "observation.tactile": {"min": [-3.2238357067108154, -3.82589059881866e-05, -8.926026202971116e-05, -0.09462447464466095, -0.02424047328531742, -0.02941543236374855, -0.015519355423748493, -0.0464625209569931, -8.828612772049382e-05, -0.038443297147750854, -0.004830196499824524, -0.0004052038420923054, -0.15286938846111298, -3.596961687435396e-05, -7.846210792195052e-05, -0.05381108075380325, -0.0011434898478910327, -0.007568336091935635, -0.009589601308107376, -3.7864439946133643e-05, -8.693534618942067e-05, -0.0006280130473896861, -9.848108311416581e-05, -0.00014467700384557247, -0.004966947715729475, -4.408572567626834e-05, -0.0001008433464448899, -0.008634284138679504, -2.126840263372287e-05, -0.00012099382001906633, -0.0006885891780257225, -3.8827081880299374e-05, -8.64140602061525e-05, -0.051833923906087875, -1.5157785355768283e-06, -0.0034594498574733734, -0.01069748867303133, -3.309037128929049e-05, -7.28278755559586e-05, -0.0014589637285098433, -7.586174615425989e-05, -0.00020566991588566452, -0.28341397643089294, -4.342637112131342e-05, -0.00010034494334831834, -0.01457246858626604, -0.003019411815330386, -0.002999122953042388, -0.008797384798526764, -4.7772849939065054e-05, -0.00010829523671418428, -0.006931676529347897, -8.036217332119122e-05, -0.00012811686610803008, -0.21156103909015656, -0.05585593730211258, -1.3609949350357056, -0.05304163694381714, -0.008851936087012291, -0.004038132261484861], "max": [0.011154454201459885, 2.244920492172241, 8.151640892028809, 1.6334299743903102e-06, 0.00017242143803741783, 0.00022550695575773716, 1.4583219289779663, 1.03974187374115, 2.744049072265625, 1.6372405298170634e-06, 0.0009273323812521994, 0.02231837622821331, 1.1621201038360596, 2.214482545852661, 3.5051767826080322, 1.437205696674937e-06, 0.00990380346775055, 0.0158644188195467, 0.000301126332487911, 0.00997211690992117, 0.02929137833416462, 1.584903316143027e-06, 9.289200534112751e-05, 6.206697435118258e-06, 0.8467543721199036, 0.2151053547859192, 0.37658563256263733, 1.8816996316672885e-06, 0.0031288585159927607, 0.01828700490295887, 2.8842222690582275, 1.6549016237258911, 4.55660343170166, 1.689003056526417e-06, 0.020622076466679573, 0.02756514400243759, 0.0002933868672698736, 0.025093747302889824, 0.07333683967590332, 1.3238450264907442e-06, 0.00010330983059247956, 5.4950305639067665e-06, 0.32869118452072144, 1.4123213291168213, 2.0362579822540283, 1.8394513290331815e-06, 0.0018143182387575507, 0.004548875615000725, 1.2773289680480957, 0.22294415533542633, 0.4591849446296692, 1.9965323190263007e-06, 0.002700243843719363, 0.0182697344571352, 4.7461652755737305, 6.87238883972168, 3.6237175464630127, 0.029975490644574165, 0.011365298181772232, 0.09217541664838791], "mean": [-1.385966181755066, 0.8472877740859985, 3.9887359142303467, -0.0459056980907917, -0.011143838986754417, -0.013365836814045906, 0.42459744215011597, 0.2068760097026825, 0.7278580069541931, -0.010389450937509537, -0.0012020940193906426, 0.006230478640645742, 0.3008532226085663, 0.7360541820526123, 1.3755046129226685, -0.021044710651040077, 0.002555656712502241, 0.0031508593820035458, -9.368047176394612e-05, 0.00047440125490538776, 0.0013934827875345945, -2.8594646209967323e-05, 2.1422739848730998e-07, -2.497976311133243e-06, 0.18797729909420013, 0.013734416104853153, 0.03852614387869835, -0.0008411718299612403, 0.00047775887651368976, 0.004041634034365416, 0.31694096326828003, 0.375141978263855, 1.175379753112793, -0.013070078566670418, 0.005078858695924282, 0.0018795538926497102, -0.0021912059746682644, 0.0053973994217813015, 0.015814049169421196, -0.0003030209627468139, 3.317377377243247e-07, -4.1700161091284826e-05, -0.011584937572479248, 0.051117993891239166, 0.12512248754501343, -0.0010253987275063992, -2.3460273951059207e-05, -6.67364802211523e-05, 0.024982642382383347, 0.004550446290522814, 0.011359166353940964, -0.00018367357552051544, 5.685274300049059e-05, 0.00036326400004327297, 0.30577805638313293, 0.2951674163341522, 0.09146596491336823, -0.0011137468973174691, 0.00018484242900740355, 0.004672653041779995], "std": [1.2861180305480957, 0.8021861910820007, 3.6217195987701416, 0.04195580631494522, 0.010159311816096306, 0.012574884109199047, 0.42924222350120544, 0.2997407615184784, 0.8448742628097534, 0.011975176632404327, 0.0013765034964308143, 0.0063790432177484035, 0.3532555401325226, 0.7717157006263733, 1.3609648942947388, 0.02047928050160408, 0.003051047446206212, 0.004531815182417631, 0.0010032160207629204, 0.0014235409907996655, 0.004134029615670443, 8.496574446326122e-05, 9.571785085427109e-06, 2.069098991341889e-05, 0.24454975128173828, 0.020138775929808617, 0.050966180860996246, 0.00114125304389745, 0.0006206439575180411, 0.005353032611310482, 0.6293302774429321, 0.5458451509475708, 1.711243748664856, 0.019168931990861893, 0.007350520230829716, 0.0055475314147770405, 0.0022385765332728624, 0.00469265365973115, 0.013686914928257465, 0.00027786724967882037, 1.8799430108629167e-05, 4.5021552068647e-05, 0.061564650386571884, 0.13489572703838348, 0.24077633023262024, 0.0018242124933749437, 0.0005197275313548744, 0.0007361028110608459, 0.1551842987537384, 0.023003388196229935, 0.0516037680208683, 0.0007844694773666561, 0.0003049889055546373, 0.002254347549751401, 1.0008046627044678, 1.1267566680908203, 0.5844598412513733, 0.009388649836182594, 0.0020399156492203474, 0.016119856387376785], "count": [566]}, "timestamp": {"min": [0.0], "max": [18.833333333333332], "mean": [9.416666666666666], "std": [5.446329038903176], "count": [566]}, "frame_index": {"min": [0], "max": [565], "mean": [282.5], "std": [163.3898711670953], "count": [566]}, "episode_index": {"min": [18], "max": [18], "mean": [18.0], "std": [0.0], "count": [566]}, "index": {"min": [12402], "max": [12967], "mean": [12684.5], "std": [163.3898711670953], "count": [566]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [566]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5351231694221497]], [[0.5347042679786682]], [[0.5366490483283997]]], "std": [[[0.2817942798137665]], [[0.281861811876297]], [[0.28286731243133545]]], "count": [566]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2185436338186264]], [[0.21803626418113708]], [[0.21317438781261444]]], "std": [[[0.14596711099147797]], [[0.14627952873706818]], [[0.14698998630046844]]], "count": [566]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2980872392654419]], [[0.3003592789173126]], [[0.3005397915840149]]], "std": [[[0.16922074556350708]], [[0.17205490171909332]], [[0.17188026010990143]]], "count": [566]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5334281325340271]], [[0.5332779288291931]], [[0.5349199175834656]]], "std": [[[0.2851550281047821]], [[0.28527867794036865]], [[0.28618913888931274]]], "count": [566]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5137255191802979]], [[0.5137255191802979]], [[0.5137255191802979]]], "mean": [[[0.001260339398868382]], [[0.001260339398868382]], [[0.001260339398868382]]], "std": [[[0.018237333744764328]], [[0.018237333744764328]], [[0.018237333744764328]]], "count": [566]}, "observation.images.tactile_raw": {"min": [[[0.07450980693101883]], [[0.07450980693101883]], [[0.07450980693101883]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5076428651809692]], [[0.5076428651809692]], [[0.5076428651809692]]], "std": [[[0.2365138828754425]], [[0.2365138828754425]], [[0.2365138828754425]]], "count": [566]}}}
+{"episode_index": 19, "stats": {"observation.state": {"min": [0.9344456791877747, -0.9128556847572327, -0.2312650978565216, 1.1159164905548096, -1.1658328771591187, -0.7700449228286743, 0.041590411216020584, 0.009214166551828384, -0.28840693831443787, -0.030404051765799522, -0.10628511011600494, 0.021908439695835114, -0.008224894292652607, -0.16106446087360382, 0.011476490646600723, 0.012977657839655876, -0.031026113778352737, -0.17524166405200958, 0.01713283360004425, 0.013056144118309021, -0.007144037634134293, -0.038362231105566025, 0.01428923849016428, 0.0030591743998229504, 0.0322774276137352, -0.008405936881899834, -0.042930718511343, 0.011165894567966461, 0.0032924150582402945, 0.8959337472915649, -0.9304696321487427, -0.23375830054283142, 0.8988015651702881, -2.089677333831787, -0.7689802646636963, -0.02329469658434391, 0.012300672009587288, -0.29149559140205383, 0.03316688537597656, -0.12809495627880096, 0.014937733300030231, 0.003141493536531925, -0.15652933716773987, 0.00829180795699358, 0.010553465224802494, -0.0032418267801404, -0.09518583118915558, 0.010552145540714264, 0.008533230051398277, -0.06358838081359863, -0.024003012105822563, 0.01026140432804823, 0.005773809738457203, 0.022140156477689743, -0.10592225193977356, -0.029681792482733727, 0.01075956504791975, 0.002919052727520466, 0.5616286993026733, -1.1070547103881836, 0.5441796779632568, 0.0, -0.013997574336826801, -0.0001917476038215682, -0.8019843101501465], "max": [1.2387022972106934, -0.6044847965240479, 8.988168701762334e-06, 1.6187098026275635, 0.11229781806468964, -0.367330402135849, 0.5344510078430176, 1.2497971057891846, -0.003652204992249608, 0.2802108824253082, 0.13797558844089508, 0.3102782964706421, 0.661531925201416, 0.020004626363515854, 0.419460654258728, 0.5411971807479858, 0.7182085514068604, 0.03874370828270912, 0.4415545165538788, 0.35131993889808655, 0.5517685413360596, 0.10817617923021317, 0.32331809401512146, 0.3902897238731384, 0.2380026876926422, 0.11129365116357803, 0.05230442062020302, 0.7204586267471313, 1.291954755783081, 1.3345115184783936, -0.47129055857658386, -0.0004778110596816987, 1.5694665908813477, 0.21002569794654846, -0.13281133770942688, 0.6462346315383911, 1.49153733253479, 0.021333782002329826, 0.31276845932006836, 0.1331946700811386, 0.48153218626976013, 0.6552636027336121, 0.09200336784124374, 0.4016154706478119, 0.47038963437080383, 0.7400160431861877, 0.1844591200351715, 0.7220910787582397, 0.37615564465522766, 0.6943610906600952, 0.170962393283844, 0.5509361028671265, 0.40650880336761475, 0.09396053850650787, 0.13088640570640564, 0.13755330443382263, 0.7958132028579712, 1.3614922761917114, 0.563066840171814, -1.1066712141036987, 0.5536711812019348, 0.005560680292546749, 0.0, 0.17583255469799042, -0.5997864603996277], "mean": [1.0419096946716309, -0.7144325971603394, -0.22087597846984863, 1.3827496767044067, -0.7557887434959412, -0.5026775598526001, 0.22155983746051788, 1.0859543085098267, -0.20992307364940643, 0.13276393711566925, 0.07623960077762604, 0.18166925013065338, 0.4387863278388977, -0.059825342148542404, 0.3253900706768036, 0.458825945854187, 0.47620174288749695, -0.06148848310112953, 0.34328556060791016, 0.29233065247535706, 0.21552318334579468, 0.03688723221421242, 0.17230120301246643, 0.20437224209308624, 0.09409209340810776, 0.04479240998625755, 0.002611755393445492, 0.3611822724342346, 0.7685420513153076, 1.1466137170791626, -0.7145096063613892, -0.22137019038200378, 1.3242721557617188, -0.678347647190094, -0.29412999749183655, 0.3477359712123871, 1.212896466255188, -0.09545309096574783, 0.15180590748786926, -0.013549955561757088, 0.3224051594734192, 0.4381040930747986, -0.011698979884386063, 0.2884630858898163, 0.3458108901977539, 0.4036646783351898, 0.07871697843074799, 0.4793306291103363, 0.30080434679985046, 0.3130742311477661, 0.1089562401175499, 0.29510629177093506, 0.22251194715499878, 0.026648715138435364, 0.04400692135095596, 0.07587585598230362, 0.3987686038017273, 0.7863979339599609, 0.5623114109039307, -1.1068676710128784, 0.5525104999542236, 0.004883975256234407, -0.012439485639333725, 0.06094089895486832, -0.7595071792602539], "std": [0.060627810657024384, 0.09672477841377258, 0.04210277646780014, 0.11862042546272278, 0.30011487007141113, 0.08652845025062561, 0.1578727811574936, 0.2647262215614319, 0.060654476284980774, 0.08780232816934586, 0.05391063541173935, 0.036281321197748184, 0.19059324264526367, 0.058446209877729416, 0.1057514175772667, 0.1319715976715088, 0.22230246663093567, 0.06304099410772324, 0.09963224828243256, 0.07834446430206299, 0.20526175200939178, 0.053165607154369354, 0.12784437835216522, 0.15641777217388153, 0.07285699993371964, 0.04259775951504707, 0.037249766290187836, 0.24799256026744843, 0.4962104558944702, 0.13679836690425873, 0.09387578070163727, 0.040732890367507935, 0.19286946952342987, 0.7617895007133484, 0.1272958666086197, 0.25026747584342957, 0.34097886085510254, 0.09210029244422913, 0.07967134565114975, 0.09328523278236389, 0.1452743113040924, 0.19487786293029785, 0.07847177237272263, 0.0899747759103775, 0.10946810245513916, 0.279558002948761, 0.08136536926031113, 0.12338553369045258, 0.06169809773564339, 0.2993040084838867, 0.05797581374645233, 0.25219905376434326, 0.17668123543262482, 0.011796182952821255, 0.05458322539925575, 0.054353997111320496, 0.3189178705215454, 0.5357207655906677, 0.0001689292985247448, 6.658722850261256e-05, 0.001471764175221324, 0.0009118095622397959, 0.0022475249134004116, 0.052000802010297775, 0.04018919914960861], "count": [633]}, "observation.state.joint_torque": {"min": [-30.177000045776367, -17.000999450683594, -17.32900047302246, -11.50100040435791, -0.25279998779296875, -2.303999900817871, 0.6168000102043152, -0.6749695539474487, -0.6011049747467041, -0.6288009285926819, -0.6064324975013733, -0.16104483604431152, -0.4288804829120636, -0.6466788649559021, -0.11123716086149216, -0.04138316959142685, -0.41832640767097473, -0.48932674527168274, -0.1328205019235611, -0.015697065740823746, -0.36363691091537476, -0.38954249024391174, -0.0979551151394844, -0.022118592634797096, -0.08927962183952332, -0.4634212255477905, -0.5363404750823975, -0.36525633931159973, -0.12343601882457733, -13.649999618530273, -27.088499069213867, -12.821000099182129, -15.864999771118164, -2.319999933242798, -8.280799865722656, -3.060800075531006, -1.050660252571106, -0.6813372373580933, -0.2945174276828766, -0.5865495800971985, -0.09629485011100769, -0.39625874161720276, -0.4029749631881714, -0.08633331209421158, -0.027113113552331924, -0.3713126480579376, -0.6697060465812683, -0.09961536526679993, -0.016410568729043007, -0.7435848116874695, -0.40393444895744324, -0.35695505142211914, -0.09989041090011597, -0.1886746734380722, -0.2600148022174835, -0.4989214241504669, -0.5445640087127686, -0.21547789871692657, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-17.922000885009766, 21.48900032043457, -8.78499984741211, 8.317000389099121, 2.4647998809814453, 2.1552000045776367, 3.319999933242798, 0.817604660987854, 1.591909408569336, 1.0190054178237915, 0.5890348553657532, 0.11953844130039215, 0.9057342410087585, 0.4317588806152344, 0.13448072969913483, 0.04138316959142685, 0.5468946099281311, 0.34156927466392517, 0.14444229006767273, 0.03710215538740158, 0.2840014100074768, 0.4950835704803467, 0.12783971428871155, 0.022832093760371208, 0.07036817818880081, 0.30702856183052063, 0.329096257686615, 0.10791664570569992, 0.04423718526959419, 43.608001708984375, 20.922000885009766, 20.003000259399414, 6.992000102996826, 1.0263999700546265, 2.9983999729156494, 12.2391996383667, 0.9551456570625305, 1.7740237712860107, 0.898464560508728, 0.8661546111106873, 0.3552948236465454, 1.2693710327148438, 0.4595833420753479, 0.2025512456893921, 0.022118592634797096, 0.984410285949707, 0.3262178599834442, 0.1411217600107193, 0.021405089646577835, 0.7838822603225708, 1.3346147537231445, 0.29386529326438904, 0.04923170804977417, -0.0101154251024127, 0.7790849804878235, 1.1273704767227173, 0.20919226109981537, 0.17623522877693176, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-25.270606994628906, 2.41634202003479, -12.711692810058594, -3.904111862182617, 0.45438599586486816, 0.9365164041519165, 1.9359668493270874, 0.01796812377870083, 0.6355505585670471, 0.3736158013343811, 0.2315642237663269, 0.002192694926634431, 0.3248808979988098, 0.04911913722753525, 0.027309007942676544, 0.006081121042370796, 0.144304558634758, 0.0123896524310112, -0.02011978067457676, 0.000628966256044805, 0.06377025693655014, 0.060193125158548355, 0.025218529626727104, 0.006358407903462648, -0.047899410128593445, -0.012233562767505646, 0.03588515520095825, 0.008125540800392628, 0.005615570116788149, 24.57308578491211, 1.5928051471710205, 11.989072799682617, -2.8685336112976074, -0.3560824990272522, 0.34573644399642944, -0.7327544093132019, 0.006767995189875364, 0.6175100803375244, 0.3527217209339142, 0.052917297929525375, 0.08535503596067429, 0.44542455673217773, -0.002134158043190837, 0.046846501529216766, -0.0015363430138677359, 0.2824828624725342, -0.11318040639162064, 0.026288706809282303, 0.007653532549738884, 0.2617397904396057, 0.04110537841916084, 0.10044679790735245, 0.001433771918527782, -0.02968066744506359, 0.07140358537435532, 0.12509720027446747, 0.011540464125573635, -0.002017645165324211, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.5056633949279785, 2.2842984199523926, 1.1048855781555176, 1.3511528968811035, 0.31187912821769714, 0.5403907299041748, 0.5319897532463074, 0.2759495675563812, 0.702879786491394, 0.4958285689353943, 0.26038017868995667, 0.03512874245643616, 0.3537692427635193, 0.2107873111963272, 0.04619966447353363, 0.010289267636835575, 0.23994243144989014, 0.13790512084960938, 0.05080677196383476, 0.008572733961045742, 0.14792156219482422, 0.1693868637084961, 0.06012235954403877, 0.011067907325923443, 0.021323123946785927, 0.12680010497570038, 0.13231660425662994, 0.0581648051738739, 0.014910825528204441, 6.913857460021973, 5.11221981048584, 4.930739879608154, 2.2422633171081543, 0.5222317576408386, 1.651863694190979, 2.5470170974731445, 0.5119507908821106, 0.7313271164894104, 0.37758344411849976, 0.36703041195869446, 0.13080504536628723, 0.46412473917007446, 0.2136220932006836, 0.04675415903329849, 0.01020993571728468, 0.3504714071750641, 0.21831196546554565, 0.05448370426893234, 0.007827318273484707, 0.3498152494430542, 0.2957914173603058, 0.13505659997463226, 0.013552906922996044, 0.028767412528395653, 0.17243073880672455, 0.30808642506599426, 0.08648684620857239, 0.042647380381822586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [633]}, "observation.state.tcp": {"min": [0.32004454731941223, 0.12591858208179474, 0.8926445245742798, -1.2087147235870361, 1.2179479598999023, -1.3744304180145264, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3360280692577362, -0.2800890803337097, 0.8662315011024475, -1.0836888551712036, 1.180306077003479, 0.4443652033805847, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.3981478214263916, 0.2404342144727707, 1.0518897771835327, -0.04538228362798691, 1.9917486906051636, -0.670167088508606, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4372752606868744, -0.10277017205953598, 1.0922423601150513, 1.3702796697616577, 1.867592692375183, 1.6261948347091675, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3418537676334381, 0.17958126962184906, 0.9583056569099426, -0.43927401304244995, 1.8044633865356445, -1.009696364402771, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.36932870745658875, -0.2055981606245041, 0.9977425932884216, 0.43571263551712036, 1.5968708992004395, 1.0633667707443237, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.019631952047348022, 0.039398569613695145, 0.03856992721557617, 0.2681989371776581, 0.1915440410375595, 0.1388360857963562, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.021395429968833923, 0.0507497563958168, 0.06552448123693466, 0.8077086806297302, 0.19161434471607208, 0.3240344226360321, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [633]}, "action": {"min": [0.9344819188117981, -0.913197934627533, -0.23124760389328003, 1.1158751249313354, -1.1658254861831665, -0.7699999809265137, 0.04141748324036598, 0.0, -0.2916226387023926, -0.03921380266547203, -0.1000228077173233, 0.0, 0.0, -0.16053353250026703, 0.0, 0.0, 0.0, -0.17555180191993713, 0.0, 0.0, 0.0, -0.11859443783760071, 0.0, 0.0, -9.934884914741815e-09, -0.00014825382095295936, -0.13229727745056152, 0.0, 0.0, 0.8959406614303589, -0.9307428598403931, -0.23374032974243164, 0.8988168835639954, -2.089665412902832, -0.7671559453010559, -0.023393208160996437, 0.0, -0.2877529561519623, 0.0, -0.13764697313308716, 0.0, 0.0, -0.16498152911663055, 0.0, 0.0, 0.0, -0.1286717653274536, 0.0, 0.0, 0.0, -0.06942147016525269, 0.0, 0.0, -9.90143078638539e-09, -0.001738405553624034, -0.09318411350250244, 0.0, 0.0, 0.5622998476028442, -1.1068999767303467, 0.5442000031471252, -8.034866055178144e-20, -0.014545760117471218, 2.660313339490265e-20, -0.8024753928184509], "max": [1.2386895418167114, -0.6044843196868896, 1.9041614982909442e-17, 1.6189249753952026, 0.11226822435855865, -0.367196649312973, 0.5344005823135376, 1.2778416872024536, 0.0, 0.32593730092048645, 0.14094418287277222, 0.3240996301174164, 0.7101832628250122, 0.02363217994570732, 0.4352850317955017, 0.5615880489349365, 0.769194483757019, 0.03750685974955559, 0.4542996883392334, 0.36696234345436096, 0.5588544607162476, 0.11302710324525833, 0.3442659080028534, 0.40578150749206543, 0.2409084290266037, 0.11861041188240051, 0.0618910938501358, 0.7701643705368042, 1.3725000619888306, 1.3344674110412598, -0.4713156223297119, -0.0010815885616466403, 1.5697119235992432, 0.21010185778141022, -0.13268934190273285, 0.6462852954864502, 1.5227266550064087, 0.10995098948478699, 0.3109975755214691, 0.14334005117416382, 0.5468625426292419, 0.7425113320350647, 0.0978921577334404, 0.4527687430381775, 0.4845412075519562, 0.7920818328857422, 0.16876479983329773, 0.7460846304893494, 0.3925841450691223, 0.7587811350822449, 0.17254889011383057, 0.624756932258606, 0.42073139548301697, 0.011842355132102966, 0.13865146040916443, 0.14460568130016327, 0.8135076761245728, 1.330536961555481, 0.5626999735832214, -1.106863021850586, 0.5537945628166199, 0.005843437276780605, -8.003146651367062e-19, 0.1759682148694992, -0.6000000238418579], "mean": [1.0420351028442383, -0.7147529125213623, -0.2209104746580124, 1.3829705715179443, -0.7567605972290039, -0.5024738907814026, 0.22162006795406342, 1.0822432041168213, -0.1770472526550293, 0.17964428663253784, 0.08492825925350189, 0.18243886530399323, 0.4817183315753937, -0.05738881975412369, 0.3322386145591736, 0.4659717381000519, 0.4889277219772339, -0.06112079694867134, 0.3401300609111786, 0.29453611373901367, 0.2178937941789627, 0.026699084788560867, 0.17825166881084442, 0.2104140669107437, 0.06804292649030685, 0.04435623437166214, -0.015290304087102413, 0.3646725118160248, 0.7847222089767456, 1.147027850151062, -0.7152276039123535, -0.22140884399414062, 1.3246674537658691, -0.6741641759872437, -0.294261634349823, 0.34771299362182617, 1.2072556018829346, -0.062346767634153366, 0.19604800641536713, -0.011925194412469864, 0.34357741475105286, 0.5051411390304565, -0.011455312371253967, 0.2998720109462738, 0.3431600332260132, 0.44259706139564514, 0.07309307157993317, 0.48521456122398376, 0.30797937512397766, 0.3478885889053345, 0.10994438081979752, 0.3198341131210327, 0.22349587082862854, 0.0003126137307845056, 0.049716852605342865, 0.07967816293239594, 0.4006192982196808, 0.7797286510467529, 0.5623154640197754, -1.1068682670593262, 0.5525553226470947, 0.004929495044052601, -0.012489061802625656, 0.06097106635570526, -0.7595447301864624], "std": [0.060898859053850174, 0.09684451669454575, 0.04218089208006859, 0.11858035624027252, 0.298855721950531, 0.08612191677093506, 0.15788356959819794, 0.2864747941493988, 0.08529891073703766, 0.14132151007652283, 0.059519991278648376, 0.049314968287944794, 0.22274547815322876, 0.06395844370126724, 0.11629178375005722, 0.1445789784193039, 0.23638901114463806, 0.06695452332496643, 0.10566341876983643, 0.08193100243806839, 0.21178296208381653, 0.0774058923125267, 0.14011819660663605, 0.16610132157802582, 0.07844670861959457, 0.04533075913786888, 0.06310632824897766, 0.2662227153778076, 0.5443596243858337, 0.1365574449300766, 0.0941927507519722, 0.040756043046712875, 0.19259485602378845, 0.7590029835700989, 0.12729910016059875, 0.2501670718193054, 0.3616085648536682, 0.1205032467842102, 0.06690992414951324, 0.09199603646993637, 0.17496874928474426, 0.2510088086128235, 0.08103064447641373, 0.1036267951130867, 0.11356992274522781, 0.31926265358924866, 0.0783681645989418, 0.13740174472332, 0.07503270357847214, 0.3356288969516754, 0.05806377902626991, 0.27947989106178284, 0.18020933866500854, 0.0017358508193865418, 0.051544904708862305, 0.058395422995090485, 0.3314676880836487, 0.5539616346359253, 7.262405415531248e-05, 7.252567684190581e-06, 0.0015430167550221086, 0.0009414982050657272, 0.002350274473428726, 0.05207710340619087, 0.040514007210731506], "count": [633]}, "observation.state.tcp_pose": {"min": [0.32004454731941223, 0.12591858208179474, 0.8926445245742798, -1.2087147235870361, 1.2179479598999023, -1.3744304180145264, 0.3360280692577362, -0.2800890803337097, 0.8662315011024475, -1.0836888551712036, 1.180306077003479, 0.4443652033805847], "max": [0.3981478214263916, 0.2404342144727707, 1.0518897771835327, -0.04538228362798691, 1.9917486906051636, -0.670167088508606, 0.4372752606868744, -0.10277017205953598, 1.0922423601150513, 1.3702796697616577, 1.867592692375183, 1.6261948347091675], "mean": [0.3418537676334381, 0.17958126962184906, 0.9583056569099426, -0.43927401304244995, 1.8044633865356445, -1.009696364402771, 0.36932870745658875, -0.2055981606245041, 0.9977425932884216, 0.43571263551712036, 1.5968708992004395, 1.0633667707443237], "std": [0.019631952047348022, 0.039398569613695145, 0.03856992721557617, 0.2681989371776581, 0.1915440410375595, 0.1388360857963562, 0.021395429968833923, 0.0507497563958168, 0.06552448123693466, 0.8077086806297302, 0.19161434471607208, 0.3240344226360321], "count": [633]}, "action.tcp_pose": {"min": [0.3199971318244934, 0.1260204166173935, 0.8926599621772766, -1.208855390548706, 1.2178406715393066, -1.3744244575500488, 0.33628976345062256, -0.27953583002090454, 0.8660767674446106, -1.0837137699127197, 1.180051565170288, 0.44415605068206787], "max": [0.3980046510696411, 0.24066482484340668, 1.0518072843551636, -0.044941194355487823, 1.9923831224441528, -0.6701669692993164, 0.43717941641807556, -0.10278740525245667, 1.091084599494934, 1.370400071144104, 1.8687398433685303, 1.626222014427185], "mean": [0.34185269474983215, 0.17960801720619202, 0.9583836793899536, -0.4381345510482788, 1.804613471031189, -1.0099380016326904, 0.36945635080337524, -0.20598562061786652, 0.9978956580162048, 0.4401172399520874, 1.597274899482727, 1.0647467374801636], "std": [0.01961224339902401, 0.039405062794685364, 0.03871876001358032, 0.2669171094894409, 0.1909836381673813, 0.1392247974872589, 0.021565353497862816, 0.050758637487888336, 0.06542161852121353, 0.8046365976333618, 0.19197708368301392, 0.3223658800125122], "count": [633]}, "subtask_index": {"min": [0], "max": [4], "mean": [1.9067930489731437], "std": [1.3022648819998457], "count": [633]}, "observation.tactile": {"min": [-1.9760454893112183, -4.6742094127694145e-05, -0.00010738652781583369, -0.04188824072480202, -0.011922613717615604, -0.020274536684155464, -0.08332252502441406, -4.375633943709545e-05, -9.71367844613269e-05, -0.01245084684342146, -0.0017104739090427756, -0.0013284888118505478, -0.11309940367937088, -3.763678978430107e-05, -8.21630164864473e-05, -0.012473487295210361, -0.001180208520963788, -0.0022898230236023664, -0.011606482788920403, -3.680188092403114e-05, -8.422884275205433e-05, -0.0008453215705230832, -0.00013342697639018297, -0.00019848180818371475, -1.3889265060424805, -0.11685343831777573, -0.00011005953274434432, -0.012099730782210827, -0.0010766348568722606, -0.031003646552562714, -0.00043593981536105275, -0.03688234090805054, -8.465800056001171e-05, -0.07830608636140823, -2.803366987791378e-05, -0.005939915776252747, -0.006154375150799751, -3.4111533750547096e-05, -7.457113679265603e-05, -0.0012586797820404172, -1.5141060430323705e-05, -0.00014634050603490323, -0.25214430689811707, -4.5112632506061345e-05, -0.00010321263107471168, -0.01640239544212818, -0.0033409493044018745, -0.0023551895283162594, -0.4329737424850464, -4.445969534572214e-05, -0.07394295930862427, -0.018806977197527885, -0.0026065490674227476, -0.0043763224966824055, -0.004484284203499556, -0.035199861973524094, -1.8508929014205933, -0.12198815494775772, -0.007730395067483187, -8.227092621382326e-05], "max": [0.0005813257303088903, 0.9636453986167908, 3.673206090927124, 2.004123189180973e-06, 0.00024092281819321215, 7.738689419056755e-06, 0.3929024636745453, 0.34470850229263306, 1.0120242834091187, 1.788839654182084e-06, 0.0010157853830605745, 0.005422079004347324, 0.4385159909725189, 0.5641525983810425, 1.022553563117981, 1.5175065755101969e-06, 0.001714259386062622, 0.005552914924919605, 0.004923184867948294, 0.014985443092882633, 0.04215741157531738, 1.5414896097354358e-06, 0.00014045099669601768, 4.820946560357697e-05, 0.05017886683344841, 0.07718688994646072, 0.5387893915176392, 2.0537793261610204e-06, 0.0008457963704131544, 0.0008095927187241614, 4.282489776611328, 2.3723397254943848, 6.929895401000977, 1.6302221865771571e-06, 0.03224697709083557, 0.04020696505904198, 0.02582472935318947, 0.019904809072613716, 0.0592263862490654, 1.3402662943917676e-06, 0.00028730856138281524, 0.0004161238903179765, 0.43183082342147827, 1.42982816696167, 2.2027170658111572, 1.8794996776705375e-06, 0.00082176155410707, 0.00555703230202198, 0.6956726312637329, 1.123712420463562, 1.9880608320236206, 0.0017579002305865288, 0.0004522231756709516, 0.015353970229625702, 8.628022193908691, 15.922224998474121, 8.324451446533203, 0.039564453065395355, 0.015032488852739334, 0.138919398188591], "mean": [-0.8741264939308167, 0.37599220871925354, 1.5226072072982788, -0.0170640517026186, -0.004589431453496218, -0.008645291440188885, 0.06671849638223648, 0.06288395822048187, 0.18784889578819275, -0.002316625788807869, -0.00022107636323198676, 0.0008823018288239837, 0.06787893176078796, 0.11261294037103653, 0.26400867104530334, -0.003465177956968546, 0.000138234841870144, 0.0008309377008117735, -0.0007468403200618923, 0.0014055455103516579, 0.004038636572659016, -7.141943206079304e-05, -1.2854982287535677e-06, -1.2157098353782203e-05, -0.020298268646001816, 0.0005081645213067532, 0.00849133636802435, -0.00018126211944036186, 1.2895303598270402e-06, -0.0004528877616394311, 0.44789931178092957, 0.617403507232666, 2.1335694789886475, -0.023732278496026993, 0.0093154925853014, 0.002336393343284726, -8.854134648572654e-05, 0.0026098964735865593, 0.007743988186120987, -0.00012646296818275005, 2.2320054995361716e-05, -7.922732038423419e-06, -0.008141400292515755, 0.033505164086818695, 0.07588592171669006, -0.0006559883477166295, -9.025508916238323e-06, -4.4846852688351646e-05, -0.06940022110939026, 0.2983025908470154, 0.6094202995300293, -0.005871037021279335, -0.0005959250265732408, -0.00024854394723661244, 0.6710312366485596, 0.906281054019928, 0.3004104197025299, -0.003956520929932594, 0.0003057983412873, 0.00989258848130703], "std": [0.8309080004692078, 0.3612198829650879, 1.4933032989501953, 0.016908768564462662, 0.004570312332361937, 0.008356763981282711, 0.09217315912246704, 0.08058087527751923, 0.2361074984073639, 0.0028537441976368427, 0.00036855367943644524, 0.0012548613594844937, 0.0864139050245285, 0.12791326642036438, 0.2870727777481079, 0.0036590511444956064, 0.00033105650800280273, 0.0011175012914463878, 0.001954725943505764, 0.002740873023867607, 0.007827323861420155, 0.00014453787298407406, 2.302312532265205e-05, 3.564290454960428e-05, 0.1415962278842926, 0.010223976336419582, 0.04611692950129509, 0.0010271271457895637, 0.00010072395525639877, 0.003154199803248048, 0.8608958721160889, 0.7123010158538818, 2.4071295261383057, 0.027106504887342453, 0.010783969424664974, 0.00856596976518631, 0.002065647393465042, 0.003025496145710349, 0.009065121412277222, 0.000161152463988401, 3.2053689210442826e-05, 3.527434091665782e-05, 0.05482640489935875, 0.1347833275794983, 0.2190769612789154, 0.0016312797088176012, 0.00034247495932504535, 0.0006227543926797807, 0.14037327468395233, 0.36986014246940613, 0.7353280186653137, 0.007038400508463383, 0.0008126304601319134, 0.0018859781557694077, 1.9075971841812134, 3.201070785522461, 1.4590559005737305, 0.021656710654497147, 0.002341400133445859, 0.028426283970475197], "count": [633]}, "timestamp": {"min": [0.0], "max": [21.066666666666666], "mean": [10.533333333333333], "std": [6.091037739231365], "count": [633]}, "frame_index": {"min": [0], "max": [632], "mean": [316.0], "std": [182.73113217694095], "count": [633]}, "episode_index": {"min": [19], "max": [19], "mean": [19.0], "std": [0.0], "count": [633]}, "index": {"min": [12968], "max": [13600], "mean": [13284.0], "std": [182.73113217694095], "count": [633]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [633]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5361116528511047]], [[0.5357312560081482]], [[0.5376560688018799]]], "std": [[[0.28226831555366516]], [[0.2823236882686615]], [[0.2832849323749542]]], "count": [633]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2167951613664627]], [[0.21619446575641632]], [[0.21222558617591858]]], "std": [[[0.1464858502149582]], [[0.14676764607429504]], [[0.14783026278018951]]], "count": [633]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29860857129096985]], [[0.3008880913257599]], [[0.3015964925289154]]], "std": [[[0.16981443762779236]], [[0.17286360263824463]], [[0.1731913834810257]]], "count": [633]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.535129964351654]], [[0.5350068807601929]], [[0.5366225838661194]]], "std": [[[0.28598347306251526]], [[0.2861121594905853]], [[0.2869570553302765]]], "count": [633]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.48235294222831726]], [[0.48235294222831726]], [[0.48235294222831726]]], "mean": [[[0.00113972881808877]], [[0.00113972881808877]], [[0.00113972881808877]]], "std": [[[0.01745370402932167]], [[0.01745370402932167]], [[0.01745370402932167]]], "count": [633]}, "observation.images.tactile_raw": {"min": [[[0.08235294371843338]], [[0.08235294371843338]], [[0.08235294371843338]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5086120963096619]], [[0.5086120963096619]], [[0.5086120963096619]]], "std": [[[0.23595933616161346]], [[0.23595933616161346]], [[0.23595933616161346]]], "count": [633]}}}
+{"episode_index": 20, "stats": {"observation.state": {"min": [0.9443359375, -0.8913410305976868, -0.2312752902507782, 1.0543971061706543, -0.9939917325973511, -0.7700543999671936, 0.16364195942878723, 0.009267284534871578, -0.29056060314178467, -0.028356406837701797, -0.07314833253622055, 0.01981545425951481, 0.014195841737091541, -0.17169956862926483, 0.011420824564993382, 0.011925415135920048, 0.00874765869230032, -0.18356958031654358, 0.013932547532022, 0.009405442513525486, -0.012864521704614162, -0.037682220339775085, 0.015066441148519516, 0.010683830827474594, 0.032251738011837006, -0.0033475575037300587, -0.035425085574388504, 0.011059524491429329, -0.009397904388606548, 0.9238128066062927, -0.9073379039764404, -0.23366589844226837, 0.9612220525741577, -2.115478038787842, -0.7674713134765625, -0.07439052313566208, 0.01234855130314827, -0.29425835609436035, 0.0065607596188783646, -0.13591544330120087, 0.014843774959445, -0.003825920168310404, -0.17614932358264923, 0.008849180303514004, 0.0040453472174704075, -0.008172641508281231, -0.0917259231209755, 0.014837038703262806, 0.001709838630631566, -0.012055966071784496, -0.026118356734514236, 0.010216020047664642, 0.006189740262925625, 0.02922051027417183, -0.127495676279068, -0.0012820119736716151, 0.010698934085667133, 0.0021545919589698315, 0.5620121955871582, -1.1069588661193848, 0.5442755818367004, 0.0001917476038215682, -0.015339807607233524, 0.00028762139845639467, -0.8632476925849915], "max": [1.2156974077224731, -0.48927780985832214, 1.1864382031490095e-05, 1.570035696029663, 0.09627587348222733, -0.38008913397789, 0.5466322302818298, 1.323504090309143, -0.00368725648149848, 0.1924079805612564, 0.12994392216205597, 0.17075996100902557, 0.7351909279823303, -8.978445112006739e-05, 0.43993666768074036, 0.5040773749351501, 0.676786482334137, 0.052278172224760056, 0.5116831064224243, 0.35759437084198, 0.5217087268829346, 0.1013888493180275, 0.3274990916252136, 0.371547132730484, 0.24324096739292145, 0.08781193196773529, 0.058872707188129425, 0.6682173609733582, 1.3196934461593628, 1.3586641550064087, -0.5085148215293884, -0.0017704295460134745, 1.5677982568740845, 0.26210662722587585, 0.09749777615070343, 0.6434286832809448, 1.409883975982666, 0.02434241585433483, 0.5239484310150146, 0.14339081943035126, 0.6129491329193115, 0.6877430081367493, 0.10537298768758774, 0.3861313760280609, 0.6411438584327698, 0.8147583603858948, 0.16926804184913635, 0.7398617267608643, 0.35626235604286194, 0.9203580617904663, 0.1783522516489029, 0.3823588192462921, 0.516247570514679, 0.06356692314147949, 0.3432396948337555, 0.12800274789333344, 0.8772381544113159, 1.2977027893066406, 0.5627791881561279, -1.106767177581787, 0.553575336933136, 0.006135923322290182, -0.0001917476038215682, 0.3136031925678253, -0.6013204455375671], "mean": [1.0315967798233032, -0.7204408049583435, -0.2209792584180832, 1.365683674812317, -0.6998706459999084, -0.5037397146224976, 0.2907642126083374, 1.0889712572097778, -0.19277876615524292, 0.0525699220597744, 0.08275759220123291, 0.16340377926826477, 0.4153746962547302, -0.10834876447916031, 0.313200443983078, 0.4167972803115845, 0.42216596007347107, -0.07681892067193985, 0.3963523209095001, 0.2860215902328491, 0.2043699026107788, 0.03225692734122276, 0.15864048898220062, 0.1834598332643509, 0.07649446278810501, 0.03932558000087738, 0.002575073391199112, 0.29349082708358765, 0.7738190293312073, 1.1608552932739258, -0.6754541993141174, -0.2216241955757141, 1.2964074611663818, -0.7252633571624756, -0.19944828748703003, 0.3190498948097229, 1.1455806493759155, -0.15127447247505188, 0.29197677969932556, -0.030311400070786476, 0.348898708820343, 0.4541732668876648, 0.0004118302895221859, 0.2781895697116852, 0.46641218662261963, 0.40667709708213806, 0.07074224203824997, 0.5535026788711548, 0.26776206493377686, 0.3983381390571594, 0.10934080928564072, 0.1968936175107956, 0.2460496425628662, 0.03089708462357521, 0.115479975938797, 0.07395109534263611, 0.3920449912548065, 0.7209340929985046, 0.5623091459274292, -1.1068627834320068, 0.5524160265922546, 0.004631358198821545, -0.012457980774343014, 0.10506149381399155, -0.7823703289031982], "std": [0.06205768883228302, 0.09641502052545547, 0.04194827005267143, 0.11476090550422668, 0.2677317261695862, 0.09068968147039413, 0.10874565690755844, 0.2463868111371994, 0.07265672832727432, 0.04617690667510033, 0.049115318804979324, 0.029150839895009995, 0.19917088747024536, 0.03527054563164711, 0.1075439453125, 0.1344575434923172, 0.21058113873004913, 0.06575930863618851, 0.1323925405740738, 0.07459418475627899, 0.22025349736213684, 0.05466155707836151, 0.1323489397764206, 0.15108312666416168, 0.06394476443529129, 0.03515718877315521, 0.03723576292395592, 0.21905118227005005, 0.4971552789211273, 0.13984893262386322, 0.0944061428308487, 0.04100499674677849, 0.1847945600748062, 0.8158223032951355, 0.15653690695762634, 0.27897247672080994, 0.31872764229774475, 0.08902747184038162, 0.13479676842689514, 0.09276766330003738, 0.21183709800243378, 0.2165452539920807, 0.08929143846035004, 0.10334566235542297, 0.1779293715953827, 0.32040977478027344, 0.08261390775442123, 0.21072527766227722, 0.1009620800614357, 0.414551705121994, 0.050981368869543076, 0.16980017721652985, 0.21720370650291443, 0.0056215617805719376, 0.14136511087417603, 0.03433516249060631, 0.3652474582195282, 0.5702874064445496, 9.470211807638407e-05, 2.6497753424337134e-05, 0.0014256132999435067, 0.00098170037381351, 0.002220547990873456, 0.08810318261384964, 0.051630351692438126], "count": [652]}, "observation.state.joint_torque": {"min": [-31.30500030517578, -11.642999649047852, -16.381000518798828, -9.251999855041504, -0.14560000598430634, -1.7640000581741333, 0.8424000144004822, -0.5972843766212463, -0.36422887444496155, -0.5492687821388245, -1.0861107110977173, -0.0879935771226883, -0.4403940737247467, -0.41832640767097473, -0.10957689583301544, -0.0321076326072216, -0.37994781136512756, -0.8136256337165833, -0.12119869887828827, -0.015697065740823746, -0.3127853274345398, -0.36843428015708923, -0.09297433495521545, -0.020691584795713425, -0.10203385353088379, -0.39913713932037354, -0.3521233797073364, -0.1776474118232727, -0.18765127658843994, 16.43400001525879, -6.9045000076293945, 4.23199987411499, -7.464000225067139, -1.9728000164031982, -3.5239999294281006, -4.319200038909912, -2.5788931846618652, -1.1461747884750366, -0.5194442272186279, -2.04795241355896, -0.6989678740501404, -0.40105605125427246, -0.6975305080413818, -0.4051024913787842, -0.13770607113838196, -0.4020155072212219, -0.7407064437866211, -0.2556794285774231, -0.052085720002651215, -0.3905019760131836, -1.057329535484314, -0.11289741843938828, -0.03496164828538895, -0.12710250914096832, -0.45382657647132874, -0.54881352186203, -0.28058329224586487, -0.21476440131664276, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-20.066999435424805, 14.994000434875488, -9.373000144958496, 1.9190000295639038, 2.3815999031066895, 2.22160005569458, 3.274399995803833, 1.1614570617675781, 2.2936229705810547, 0.6735377311706543, 0.8027774691581726, 0.11289741843938828, 0.9594641923904419, 0.37802889943122864, 0.15772433578968048, 0.0321076326072216, 0.619813859462738, 0.3358124792575836, 0.13946151733398438, 0.03567514568567276, 0.30510959029197693, 0.3693937361240387, 0.13780125975608826, 0.02425910159945488, 0.05893334746360779, 0.1822981983423233, 0.29263657331466675, 0.1593845784664154, 0.20548886060714722, 51.05699920654297, 13.003499984741211, 22.367000579833984, 5.315000057220459, 0.9455999732017517, 2.796799898147583, 2.1175999641418457, 0.9016574621200562, 2.50502872467041, 1.312280297279358, 1.3433475494384766, 0.4034422039985657, 1.0698026418685913, 1.986090898513794, 0.1145576685667038, 0.0321076326072216, 1.2425062656402588, 1.017991542816162, 0.18096791207790375, 0.11201997101306915, 1.3288578987121582, 0.3693937361240387, 0.39514094591140747, 0.039956167340278625, 0.048378121107816696, 0.8788692355155945, 1.1983708143234253, 0.16104483604431152, 0.11701448261737823, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-25.19243621826172, 2.6522934436798096, -12.608429908752441, -3.916393518447876, 0.44352105259895325, 0.8814271092414856, 1.9894229173660278, 0.12793464958667755, 0.9896599650382996, 0.25932738184928894, 0.2364637851715088, 0.06505803763866425, 0.36891546845436096, 0.0640237033367157, 0.049053940922021866, 0.0012738018995150924, 0.19976261258125305, -0.02361872047185898, -0.005253233481198549, 0.004305092617869377, 0.054409898817539215, 0.050383616238832474, 0.015184171497821808, 0.004360896069556475, -0.047997716814279556, -0.06432683765888214, 0.017159877344965935, 0.00489415880292654, 0.0035543935373425484, 26.547658920288086, 1.9963241815567017, 12.767866134643555, -2.4896178245544434, -0.39230531454086304, 0.5121412873268127, -1.2597954273223877, 0.11552578955888748, 0.8050829172134399, 0.4539855718612671, -0.08455628901720047, 0.06379248201847076, 0.38602709770202637, -0.02838810905814171, 0.0398002527654171, -0.000795571191702038, 0.41783618927001953, -0.10959227383136749, 0.06123588606715202, 0.013669281266629696, 0.49068182706832886, -0.2674803137779236, 0.10572414845228195, 0.006089931353926659, -0.03306001052260399, 0.07878193259239197, 0.0652288943529129, 0.017885932698845863, -0.0017377984477207065, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.603649616241455, 2.139969825744629, 1.0599644184112549, 1.1339008808135986, 0.30172792077064514, 0.5303652882575989, 0.4965114891529083, 0.32673779129981995, 1.0364333391189575, 0.36323195695877075, 0.24359719455242157, 0.04040371999144554, 0.3873284161090851, 0.19253309071063995, 0.05011914670467377, 0.011078782379627228, 0.2885984182357788, 0.18739567697048187, 0.05211544781923294, 0.009615589864552021, 0.15647511184215546, 0.15462453663349152, 0.059443846344947815, 0.011449329555034637, 0.025262366980314255, 0.11873806267976761, 0.16835404932498932, 0.05552080646157265, 0.017854051664471626, 2.872635841369629, 2.6369099617004395, 2.4396345615386963, 1.4346293210983276, 0.46162012219429016, 1.1090333461761475, 1.1215978860855103, 0.5153455138206482, 0.9720529317855835, 0.5833998918533325, 0.33467623591423035, 0.11038682609796524, 0.43613219261169434, 0.2510988116264343, 0.04021291434764862, 0.012312531471252441, 0.513631284236908, 0.24689282476902008, 0.07830754667520523, 0.01248041819781065, 0.5545095801353455, 0.370008647441864, 0.17391307651996613, 0.014481991529464722, 0.02131018415093422, 0.168810173869133, 0.23624847829341888, 0.07293182611465454, 0.03193419799208641, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [652]}, "observation.state.tcp": {"min": [0.3238530457019806, 0.14075936377048492, 0.9040764570236206, -1.208787441253662, 1.218106985092163, -1.2962584495544434, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3400786221027374, -0.2776957154273987, 0.8808956742286682, -1.2131153345108032, 1.2177454233169556, 0.30944445729255676, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4001893401145935, 0.25936222076416016, 1.051804780960083, -0.1709328591823578, 1.9925295114517212, -0.8133703470230103, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.44961103796958923, -0.061998602002859116, 1.0880093574523926, 1.3881065845489502, 1.9324771165847778, 1.5804377794265747, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.34175238013267517, 0.18632444739341736, 0.9549343585968018, -0.4735305905342102, 1.7792266607284546, -1.0541908740997314, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.37587249279022217, -0.1932712346315384, 0.9996860027313232, 0.36191311478614807, 1.627089262008667, 1.0433217287063599, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.018825657665729523, 0.03844092786312103, 0.03802086412906647, 0.247162327170372, 0.18712066113948822, 0.104581318795681, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.022545719519257545, 0.062088966369628906, 0.06310731172561646, 0.8853693604469299, 0.19780230522155762, 0.4088442027568817, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [652]}, "action": {"min": [0.9443569779396057, -0.8914346098899841, -0.23124760389328003, 1.0543241500854492, -0.9940195679664612, -0.7699999809265137, 0.16356070339679718, 0.0, -0.2931841015815735, -0.050211045891046524, -0.07362045347690582, 0.0, 0.0, -0.17201165854930878, 0.0, 0.0, 0.0, -0.18480990827083588, 0.0, 0.0, 0.0, -0.07340001314878464, 0.0, 0.0, -9.99999993922529e-09, 0.0, -0.141114741563797, 0.0, 0.0, 0.9238399267196655, -0.9074455499649048, -0.23364445567131042, 0.9611348509788513, -2.115455389022827, -0.766746461391449, -0.07439807057380676, 0.0, -0.29227402806282043, 0.0, -0.14495572447776794, 0.0, 0.0, -0.18282349407672882, 0.0, 0.0, 0.0, -0.09730833768844604, 0.0, 0.0, 0.0, -0.034791044890880585, 0.0, 0.0, -9.963739167062613e-09, -0.0010459686163812876, 0.0, 0.0, 0.0, 0.5622998476028442, -1.1068999767303467, 0.5442000031471252, -2.763884171623632e-19, -0.016322730109095573, 2.9725288489127694e-19, -0.8658525943756104], "max": [1.2156797647476196, -0.4891481399536133, 1.232204946598672e-18, 1.5700000524520874, 0.0962572991847992, -0.38013961911201477, 0.5465765595436096, 1.3413043022155762, 0.0, 0.23169320821762085, 0.1393791288137436, 0.19931921362876892, 0.7469673752784729, 0.0, 0.4596782922744751, 0.5229027271270752, 0.7105927467346191, 0.05261782929301262, 0.5268248915672302, 0.3729763925075531, 0.5327840447425842, 0.10859131813049316, 0.346832811832428, 0.3865116238594055, 0.229766845703125, 0.09011545777320862, 0.06891191005706787, 0.730810821056366, 1.392741322517395, 1.3586276769638062, -0.5085146427154541, -0.001274836016818881, 1.5694854259490967, 0.2623107135295868, 0.0975036546587944, 0.6436008214950562, 1.4508605003356934, 0.08709988743066788, 0.5312038064002991, 0.1403799206018448, 0.6722188591957092, 0.7952494025230408, 0.11745056509971619, 0.4146144390106201, 0.6566637754440308, 0.9300603866577148, 0.15359561145305634, 0.7596652507781982, 0.3751833736896515, 1.0824611186981201, 0.15430104732513428, 0.47593939304351807, 0.5413998961448669, 0.05608304217457771, 0.3420490622520447, 0.13414266705513, 0.89970463514328, 1.3659249544143677, 0.5626999735832214, -1.106863021850586, 0.5546155571937561, 0.006372133735567331, -5.37196680692137e-19, 0.3142760396003723, -0.6000000238418579], "mean": [1.0317013263702393, -0.7207524180412292, -0.22100919485092163, 1.3658374547958374, -0.7009029984474182, -0.5033402442932129, 0.290846586227417, 1.0920411348342896, -0.14204426109790802, 0.08689779043197632, 0.09170681983232498, 0.17961159348487854, 0.4671132266521454, -0.10490769892930984, 0.32469886541366577, 0.4173808991909027, 0.4458390176296234, -0.07838741689920425, 0.39657554030418396, 0.2911541163921356, 0.20811420679092407, 0.030691372230648994, 0.1634281426668167, 0.1894882619380951, 0.046549685299396515, 0.03418917581439018, -0.012601262889802456, 0.2971634864807129, 0.8003449440002441, 1.161197543144226, -0.6761543154716492, -0.22160379588603973, 1.2963645458221436, -0.720974862575531, -0.20002524554729462, 0.3189277648925781, 1.1506925821304321, -0.11248382925987244, 0.35227906703948975, -0.03299354389309883, 0.36624351143836975, 0.5150214433670044, -0.0018476276891306043, 0.2906366288661957, 0.4694998264312744, 0.4741846024990082, 0.06503608822822571, 0.5733566284179688, 0.2837417721748352, 0.4766814708709717, 0.09629122167825699, 0.22318756580352783, 0.25211918354034424, 0.0039459578692913055, 0.12256515026092529, 0.07733470946550369, 0.39651432633399963, 0.7238882184028625, 0.5623121857643127, -1.1068683862686157, 0.5524613261222839, 0.004682024009525776, -0.012499257922172546, 0.10509751737117767, -0.7823665738105774], "std": [0.06222660094499588, 0.09660474956035614, 0.041952989995479584, 0.11469242721796036, 0.2655937075614929, 0.09032099694013596, 0.10875307768583298, 0.27139464020729065, 0.11833339929580688, 0.08480961620807648, 0.053411297500133514, 0.0414380319416523, 0.2377425581216812, 0.03728640079498291, 0.12146306037902832, 0.14378491044044495, 0.2359495460987091, 0.06789174675941467, 0.1401817351579666, 0.08264032006263733, 0.22634166479110718, 0.06561685353517532, 0.13999852538108826, 0.15868720412254333, 0.06916242092847824, 0.03836602345108986, 0.06261306256055832, 0.2356739640235901, 0.535849928855896, 0.13970385491847992, 0.09458742290735245, 0.04105505719780922, 0.18466611206531525, 0.8131292462348938, 0.1565752774477005, 0.2789754569530487, 0.3312864303588867, 0.12863069772720337, 0.11825376003980637, 0.09555402398109436, 0.22746509313583374, 0.26308950781822205, 0.09105640649795532, 0.10974891483783722, 0.18071050941944122, 0.39215704798698425, 0.08132580667734146, 0.22207872569561005, 0.10707494616508484, 0.5015222430229187, 0.040579285472631454, 0.20875726640224457, 0.23000231385231018, 0.010559037327766418, 0.13913951814174652, 0.03511082008481026, 0.3791969120502472, 0.5887652039527893, 6.724918785039335e-05, 7.120940608729143e-06, 0.0015285530826076865, 0.0010133817559108138, 0.0023457102943211794, 0.08820383995771408, 0.05201926454901695], "count": [652]}, "observation.state.tcp_pose": {"min": [0.3238530457019806, 0.14075936377048492, 0.9040764570236206, -1.208787441253662, 1.218106985092163, -1.2962584495544434, 0.3400786221027374, -0.2776957154273987, 0.8808956742286682, -1.2131153345108032, 1.2177454233169556, 0.30944445729255676], "max": [0.4001893401145935, 0.25936222076416016, 1.051804780960083, -0.1709328591823578, 1.9925295114517212, -0.8133703470230103, 0.44961103796958923, -0.061998602002859116, 1.0880093574523926, 1.3881065845489502, 1.9324771165847778, 1.5804377794265747], "mean": [0.34175238013267517, 0.18632444739341736, 0.9549343585968018, -0.4735305905342102, 1.7792266607284546, -1.0541908740997314, 0.37587249279022217, -0.1932712346315384, 0.9996860027313232, 0.36191311478614807, 1.627089262008667, 1.0433217287063599], "std": [0.018825657665729523, 0.03844092786312103, 0.03802086412906647, 0.247162327170372, 0.18712066113948822, 0.104581318795681, 0.022545719519257545, 0.062088966369628906, 0.06310731172561646, 0.8853693604469299, 0.19780230522155762, 0.4088442027568817], "count": [652]}, "action.tcp_pose": {"min": [0.32347995042800903, 0.1407981514930725, 0.9040805101394653, -1.208855390548706, 1.2178406715393066, -1.2901068925857544, 0.34062397480010986, -0.2808799147605896, 0.8808174133300781, -1.2134157419204712, 1.218855619430542, 0.3078225255012512], "max": [0.3999027907848358, 0.25916606187820435, 1.0518072843551636, -0.17038863897323608, 1.9919939041137695, -0.8122884631156921, 0.4497391879558563, -0.061996426433324814, 1.0876529216766357, 1.3883012533187866, 1.9320852756500244, 1.5805751085281372], "mean": [0.34175050258636475, 0.18635739386081696, 0.9550089240074158, -0.4722682237625122, 1.7795279026031494, -1.054556965827942, 0.3760424554347992, -0.19374702870845795, 0.9998152256011963, 0.3665873408317566, 1.6273672580718994, 1.044711947441101], "std": [0.018840953707695007, 0.038462501019239426, 0.03813093528151512, 0.24504604935646057, 0.18630219995975494, 0.1048821359872818, 0.0226689875125885, 0.062061607837677, 0.06308209151029587, 0.8823934197425842, 0.19923684000968933, 0.4066248834133148], "count": [652]}, "subtask_index": {"min": [0], "max": [4], "mean": [1.7776073619631902], "std": [1.3192493377525438], "count": [652]}, "observation.tactile": {"min": [-1.2949470281600952, -4.944309330312535e-05, -0.00011313804861856624, -0.021664666011929512, -0.008563707582652569, -0.015487784519791603, -0.11196395009756088, -4.3861531594302505e-05, -9.948095976142213e-05, -0.005958909634500742, -0.001054698252119124, -0.0017021431121975183, -0.07629373669624329, -0.19735094904899597, -7.916049798950553e-05, -0.021057549864053726, -0.006465973798185587, -0.001857104361988604, -0.009426390752196312, -3.6582550819730386e-05, -8.374726894544438e-05, -0.0007758073625154793, -6.575811858056113e-05, -0.0001773154071997851, -0.004047652240842581, -3.840713179670274e-05, -8.651723328512162e-05, -0.0005942486459389329, -5.8700279623735696e-05, -0.00010452270362293348, -0.4338584542274475, -3.908049620804377e-05, -8.689166133990511e-05, -0.09936818480491638, -1.5582018022541888e-06, -0.009729753248393536, -0.010719789192080498, -3.263810503995046e-05, -7.182256376836449e-05, -0.0013151179300621152, -3.735638892976567e-05, -0.0002234146959381178, -0.9669752717018127, -3.720213862834498e-05, -8.586945477873087e-05, -0.035726893693208694, -0.005245538894087076, -0.008632206358015537, -0.3274988830089569, -4.405304935062304e-05, -0.00010047500109067187, -0.006884006783366203, -0.0019560763612389565, -0.0033239838667213917, -0.8029999136924744, -0.12024934589862823, -1.7330870628356934, -0.10314576327800751, -0.009919972158968449, -0.013682843185961246], "max": [0.0036588325165212154, 0.19862142205238342, 1.8315027952194214, 2.105041176037048e-06, 0.0002642428735271096, 0.0001869330444606021, 0.22375741600990295, 0.16253985464572906, 0.513515293598175, 1.8491978153178934e-06, 0.0013096693437546492, 0.0031630955636501312, 1.4586074352264404, 0.7646969556808472, 1.5659315586090088, 1.4529282452713232e-06, 0.0020827343687415123, 0.021861208602786064, 0.0024141729809343815, 0.012501955963671207, 0.036516521126031876, 1.5296470792236505e-06, 0.0001531474117655307, 6.122098056948744e-06, 0.0019604337867349386, 0.009845046326518059, 0.028188224881887436, 1.5877308214840014e-06, 0.000130577536765486, 2.8058515454176813e-05, 3.035133123397827, 4.339513778686523, 9.076584815979004, 1.6740790442781872e-06, 0.038371492177248, 0.028069233521819115, 0.006902134977281094, 0.020808199420571327, 0.06218181550502777, 1.3178780591260875e-06, 0.00018620066111907363, 9.198952466249466e-05, 0.28885599970817566, 1.706894040107727, 4.150538444519043, 1.5668142623326275e-06, 0.0015517993597313762, 0.0034407449420541525, 0.00827300176024437, 0.2535962760448456, 0.7372085452079773, 1.8616193528941949e-06, 0.0005410562152974308, 0.0005948150646872818, 5.5670905113220215, 5.395750999450684, 5.7929863929748535, 0.04035229608416557, 0.02631477266550064, 0.10332230478525162], "mean": [-0.44101664423942566, 0.041193582117557526, 0.6416548490524292, -0.007613812573254108, -0.0017950432375073433, -0.005129987373948097, 0.010808052495121956, 0.012656811624765396, 0.03847447410225868, -0.0004698421689681709, -2.152277374989353e-05, 0.00013506606046576053, 0.14156392216682434, 0.20870503783226013, 0.42826956510543823, -0.0055570537224411964, 0.0001438639301341027, 0.0016999506624415517, -0.00010617852240102366, 0.000614362710621208, 0.0017959484830498695, -3.614943489083089e-05, 3.1872104955255054e-06, -3.96492123400094e-06, 0.00017004244728013873, 0.0003040067676920444, 0.0008961689891293645, -1.731501288304571e-05, 3.231799325931206e-07, 2.9636591989401495e-06, 0.11040572077035904, 0.6099519729614258, 1.5646064281463623, -0.01679655909538269, 0.006949465721845627, -0.0013544257963076234, -0.000527571071870625, 0.0021657701581716537, 0.006350359413772821, -0.00010848275269381702, 9.018673154059798e-06, -1.1275156793999486e-05, -0.1047145426273346, 0.19166059792041779, 0.6799271702766418, -0.005956192966550589, -0.001015429850667715, -0.0006396257085725665, -0.009429670870304108, 0.017049068585038185, 0.0554850697517395, -0.0005383406532928348, -0.00010799954907270148, -5.481375410454348e-05, 0.20039021968841553, 0.21934163570404053, 0.13215166330337524, -0.002366625238209963, 0.00029526729485951364, 0.003384810173884034], "std": [0.5371450781822205, 0.041357845067977905, 0.7438461780548096, 0.008875243365764618, 0.0020313479471951723, 0.0063675218261778355, 0.03629940375685692, 0.02701398730278015, 0.08223892003297806, 0.0009562714258208871, 0.00020119691907893866, 0.0004876088351011276, 0.2267121821641922, 0.26135194301605225, 0.49546322226524353, 0.0061970301903784275, 0.0009902503807097673, 0.0030509554781019688, 0.0008776993490755558, 0.0014209086075425148, 0.0041524204425513744, 8.428450382780284e-05, 1.714918289508205e-05, 1.9719631382031366e-05, 0.00044030582648701966, 0.001257438794709742, 0.0035911884624511003, 7.091920269886032e-05, 1.2122241969336756e-05, 1.1000577615050133e-05, 0.3895821273326874, 1.0414272546768188, 2.5431315898895264, 0.027434542775154114, 0.011059442535042763, 0.0038318342994898558, 0.0013115907786414027, 0.0030114958062767982, 0.008810963481664658, 0.0001750188530422747, 2.2146750779938884e-05, 2.5170129447360523e-05, 0.21842622756958008, 0.2896885275840759, 0.8581762313842773, 0.007282955572009087, 0.0017128920881077647, 0.0019499151967465878, 0.04361933097243309, 0.049329016357660294, 0.16102463006973267, 0.0015184552175924182, 0.0004068648850079626, 0.00043555916636250913, 0.8365330696105957, 0.7910757660865784, 0.6831052899360657, 0.013215998187661171, 0.0032748302910476923, 0.015212992206215858], "count": [652]}, "timestamp": {"min": [0.0], "max": [21.7], "mean": [10.85], "std": [6.273865545968362], "count": [652]}, "frame_index": {"min": [0], "max": [651], "mean": [325.5], "std": [188.21596637905085], "count": [652]}, "episode_index": {"min": [20], "max": [20], "mean": [20.0], "std": [0.0], "count": [652]}, "index": {"min": [13601], "max": [14252], "mean": [13926.5], "std": [188.21596637905085], "count": [652]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [652]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5357191562652588]], [[0.5350256562232971]], [[0.5369473695755005]]], "std": [[[0.2863943576812744]], [[0.28659242391586304]], [[0.28736305236816406]]], "count": [652]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.22044825553894043]], [[0.21996615827083588]], [[0.21626706421375275]]], "std": [[[0.14821264147758484]], [[0.14850032329559326]], [[0.1497885137796402]]], "count": [652]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2961951196193695]], [[0.29837095737457275]], [[0.2990976572036743]]], "std": [[[0.16767847537994385]], [[0.17061829566955566]], [[0.17088942229747772]]], "count": [652]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.535620927810669]], [[0.5352591872215271]], [[0.5369476675987244]]], "std": [[[0.28987371921539307]], [[0.2900189459323883]], [[0.2907935380935669]]], "count": [652]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.4745098054409027]], [[0.4745098054409027]], [[0.4745098054409027]]], "mean": [[[0.0006753030465915799]], [[0.0006753030465915799]], [[0.0006753030465915799]]], "std": [[[0.012688511982560158]], [[0.012688511982560158]], [[0.012688511982560158]]], "count": [652]}, "observation.images.tactile_raw": {"min": [[[0.08627451211214066]], [[0.08627451211214066]], [[0.08627451211214066]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5084673762321472]], [[0.5084673762321472]], [[0.5084673762321472]]], "std": [[[0.23639193177223206]], [[0.23639193177223206]], [[0.23639193177223206]]], "count": [652]}}}
+{"episode_index": 21, "stats": {"observation.state": {"min": [0.9391607642173767, -0.953107476234436, -0.23137404024600983, 1.177483081817627, -1.077033519744873, -0.7700442671775818, 0.1067008301615715, 0.003261400619521737, -0.28926512598991394, -0.020438380539417267, -0.09087729454040527, 0.0106858154758811, 0.005539439618587494, -0.1658642739057541, 0.01437610574066639, 0.005377389490604401, -0.0016070533310994506, -0.1788853257894516, 0.015479505993425846, 0.002696010982617736, -0.010980509221553802, -0.03788166493177414, 0.01429562084376812, 0.00786321796476841, 0.025206705555319786, -0.007132509723305702, -0.04573073610663414, 0.0142715098336339, 0.0026529990136623383, 0.8849673867225647, -0.9758806824684143, -0.2336585968732834, 1.0139371156692505, -2.0249557495117188, -0.7692863345146179, -0.02102380432188511, 0.013524758629500866, -0.2999165952205658, 0.008760306984186172, -0.09023900330066681, 0.014848383143544197, -0.015987372025847435, -0.17778679728507996, 0.008933920413255692, 0.01025016326457262, -0.01541554369032383, -0.11612904071807861, 0.017089931294322014, 0.0017493033083155751, -0.014222336001694202, -0.029111189767718315, 0.010522007942199707, 0.0100550577044487, 0.029474185779690742, -0.018195444718003273, -0.037777405232191086, 0.010706380009651184, 0.0028064234647899866, 0.5620121955871582, -1.1069588661193848, 0.5441796779632568, 9.58738019107841e-05, -0.01581917703151703, 0.00028762139845639467, -0.8323763012886047], "max": [1.2477984428405762, -0.5890876650810242, 9.58738019107841e-06, 1.6669740676879883, 0.07500398904085159, -0.38358426094055176, 0.5200248956680298, 1.322819471359253, -0.00023831303406041116, 0.27520492672920227, 0.1701655387878418, 0.1940639615058899, 0.7122258543968201, 0.0017704324563965201, 0.40494588017463684, 0.5398425459861755, 0.7116895914077759, 0.002417325973510742, 0.3141288757324219, 0.3065444529056549, 0.4619258940219879, 0.07529526948928833, 0.3232560455799103, 0.3925529718399048, 0.26659491658210754, 0.05953431874513626, -0.001390686258673668, 0.8103722333908081, 1.3082274198532104, 1.3459017276763916, -0.5444145798683167, -0.000336157507263124, 1.5804113149642944, 0.2235419750213623, -0.044792357832193375, 0.6595074534416199, 1.474274754524231, 0.008868169039487839, 0.30810531973838806, 0.1507018357515335, 0.3535778820514679, 0.7273980379104614, 0.13568109273910522, 0.47933533787727356, 0.5466366410255432, 0.9442736506462097, 0.16779661178588867, 0.36214518547058105, 0.32643240690231323, 0.9012728333473206, 0.17205259203910828, 0.3837398290634155, 0.5693660974502563, 0.03184179589152336, 0.322153240442276, 0.13287664949893951, 0.8190891742706299, 1.291841745376587, 0.5627791881561279, -1.106767177581787, 0.5533835887908936, 0.005944175645709038, -0.00028762139845639467, 0.2189757525920868, -0.6011286973953247], "mean": [1.0348273515701294, -0.7445588111877441, -0.22074885666370392, 1.3889281749725342, -0.7218621373176575, -0.5055914521217346, 0.2607801556587219, 1.0578064918518066, -0.204454243183136, 0.12531764805316925, 0.07550454139709473, 0.1756095290184021, 0.3866690397262573, -0.0896860882639885, 0.3284868001937866, 0.43376994132995605, 0.37727227807044983, -0.08815345168113708, 0.23115786910057068, 0.22778744995594025, 0.15604399144649506, 0.007933980785310268, 0.14628587663173676, 0.18445755541324615, 0.14891855418682098, 0.02721855230629444, -0.027114540338516235, 0.34807372093200684, 0.7880770564079285, 1.1297838687896729, -0.7402549982070923, -0.22183485329151154, 1.329882025718689, -0.6723346710205078, -0.256564199924469, 0.4221804738044739, 1.2246266603469849, -0.14869146049022675, 0.16359229385852814, 0.004648151807487011, 0.25050145387649536, 0.4823664724826813, 0.022594332695007324, 0.3102654814720154, 0.3686826825141907, 0.5097026228904724, 0.0492742657661438, 0.2163076251745224, 0.21869197487831116, 0.3759438991546631, 0.08341727405786514, 0.21525369584560394, 0.3074621856212616, 0.030009763315320015, 0.09630325436592102, 0.05916900187730789, 0.4030849039554596, 0.8970325589179993, 0.5623074173927307, -1.1068699359893799, 0.5524594187736511, 0.004714878275990486, -0.012462952174246311, 0.08360371738672256, -0.7786057591438293], "std": [0.07397940009832382, 0.0948074534535408, 0.04250504449009895, 0.11866509914398193, 0.28680455684661865, 0.08870692551136017, 0.1184728816151619, 0.31962162256240845, 0.07351658493280411, 0.08483054488897324, 0.05595843493938446, 0.038888923823833466, 0.1939667910337448, 0.04747849330306053, 0.10853824764490128, 0.14347219467163086, 0.22615717351436615, 0.04816533252596855, 0.10013769567012787, 0.10033304989337921, 0.17117847502231598, 0.039350900799036026, 0.12233392894268036, 0.15489348769187927, 0.050174929201602936, 0.019090427085757256, 0.009992108680307865, 0.241691455245018, 0.49166759848594666, 0.14220255613327026, 0.08873369544744492, 0.04071695730090141, 0.18595436215400696, 0.699741542339325, 0.15637147426605225, 0.2317020148038864, 0.3226872384548187, 0.08274155110120773, 0.08215415477752686, 0.08035852015018463, 0.09111359715461731, 0.22979050874710083, 0.10224372148513794, 0.10773265361785889, 0.11803922057151794, 0.34671488404273987, 0.0970604196190834, 0.09892196953296661, 0.10346141457557678, 0.3671830892562866, 0.07005573809146881, 0.14655931293964386, 0.2264668196439743, 0.0003271870664320886, 0.1140492781996727, 0.056329395622015, 0.2959292232990265, 0.46518415212631226, 9.642977238399908e-05, 2.4774821213213727e-05, 0.001462516956962645, 0.0009453794918954372, 0.0022406314965337515, 0.06482741981744766, 0.04535936936736107], "count": [635]}, "observation.state.joint_torque": {"min": [-31.895999908447266, -21.68549919128418, -17.148000717163086, -15.838000297546387, -1.0607999563217163, -2.5, 0.6287999749183655, -0.9997190833091736, -0.4750257730484009, -0.5865494608879089, -0.5045319199562073, -0.06474998593330383, -0.4432724714279175, -0.620773434638977, -0.18096791207790375, -0.04066966846585274, -0.37802889943122864, -0.4384751617908478, -0.12285894900560379, -0.032821137458086014, -0.3223799765110016, -0.35883963108062744, -0.0979551151394844, -0.01783757284283638, -0.13633833825588226, -0.4192858934402466, -0.43943461775779724, -0.10127562284469604, -0.04851820319890976, 12.321000099182129, -24.344999313354492, 3.390000104904175, -14.39900016784668, -2.2880001068115234, -3.1935999393463135, -2.9263999462127686, -1.3308361768722534, -0.6966195702552795, -0.29700279235839844, -0.5405699610710144, -0.0879935771226883, -0.33485302329063416, -0.6936926245689392, -0.08633331209421158, -0.027826614677906036, -0.4020155072212219, -0.8213014006614685, -0.1062563955783844, -0.025686107575893402, -0.22643356025218964, -0.8779097199440002, -0.13116022944450378, -0.026399608701467514, -0.0404617004096508, -0.3972181975841522, -0.5171512365341187, -0.13614100217819214, -0.21333740651607513, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-18.149999618530273, 22.506000518798828, -7.159999847412109, 8.35200023651123, 2.3359999656677246, 2.207200050354004, 3.0703999996185303, 0.7068077325820923, 0.947504460811615, 0.6114032864570618, 0.8301166892051697, 0.1062563955783844, 1.1743842363357544, 0.4739753007888794, 0.27892303466796875, 0.032821137458086014, 0.45766445994377136, 0.6860169172286987, 0.13780125975608826, 0.027113113552331924, 0.3319746255874634, 0.33965033292770386, 0.1145576685667038, 0.02497260272502899, 0.060252752155065536, 0.3521233797073364, 0.22547408938407898, 0.15772433578968048, 0.20192134380340576, 36.26850128173828, 23.749500274658203, 18.07699966430664, 9.390000343322754, 0.8360000252723694, 2.8287999629974365, 2.1863999366760254, 0.9908044338226318, 2.1484408378601074, 1.2749994993209839, 0.9655698537826538, 0.47483325004577637, 1.1379245519638062, 0.3981776535511017, 0.3121281564235687, 0.05993425101041794, 1.478534460067749, 0.7071251273155212, 0.23243583738803864, 0.02925362065434456, 1.1878166198730469, 0.8404906392097473, 0.21915379166603088, 0.06920978426933289, -0.00835622102022171, 0.3597990870475769, 0.7387874722480774, 0.17266662418842316, 0.18122975528240204, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-24.901453018188477, 2.92978835105896, -12.650078773498535, -3.9152002334594727, 0.516085684299469, 0.8927308320999146, 1.8069961071014404, -0.058522094041109085, 0.29372963309288025, 0.05455692484974861, 0.23635369539260864, 0.0006745649734511971, 0.23697994649410248, 0.0592963770031929, 0.01812421903014183, 0.008878917433321476, 0.05539500340819359, 0.008008109405636787, 0.01013933029025793, 0.0063990517519414425, 0.029009008780121803, 0.009457162581384182, 0.014649410732090473, 0.004486646968871355, -0.03056098148226738, 0.005395695101469755, -0.04523075371980667, -0.008068582974374294, 0.0070103309117257595, 25.362682342529297, 2.745530843734741, 12.675485610961914, -2.803393840789795, -0.280940979719162, 0.505345344543457, -1.4465936422348022, 0.08494121581315994, 0.6383861899375916, 0.4221033751964569, 0.0033855957444757223, 0.1569216102361679, 0.43313392996788025, -0.013647055253386497, 0.11688202619552612, 0.02504563145339489, 0.4655759930610657, -0.1655248999595642, 0.06447535753250122, 0.011585721746087074, 0.3749026954174042, -0.21125906705856323, 0.04313772916793823, 0.02185683324933052, -0.032219067215919495, 0.03550783172249794, -0.02107495814561844, 0.016226042062044144, 0.004368665162473917, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.7258292436599731, 2.4381232261657715, 1.1900609731674194, 1.4141916036605835, 0.3023715317249298, 0.5689806342124939, 0.4717963933944702, 0.24417109787464142, 0.39440739154815674, 0.20783764123916626, 0.27656781673431396, 0.02037990093231201, 0.28622642159461975, 0.21910737454891205, 0.055838748812675476, 0.009856571443378925, 0.16177934408187866, 0.15361851453781128, 0.056068580597639084, 0.009519290179014206, 0.1503046602010727, 0.13582754135131836, 0.06254216283559799, 0.011376036331057549, 0.029312513768672943, 0.22197596728801727, 0.059627048671245575, 0.0526716411113739, 0.01721152476966381, 2.772446393966675, 2.968351364135742, 2.3654656410217285, 1.5186138153076172, 0.43450894951820374, 1.0259757041931152, 0.9436684250831604, 0.4034593999385834, 0.8531674742698669, 0.5382795333862305, 0.2978096306324005, 0.22078438103199005, 0.5305566787719727, 0.20393893122673035, 0.10544297099113464, 0.021860040724277496, 0.6165700554847717, 0.2603188157081604, 0.10070794075727463, 0.013995066285133362, 0.49551698565483093, 0.281053751707077, 0.11620189249515533, 0.03176877275109291, 0.007768591865897179, 0.1541735678911209, 0.2115762084722519, 0.0581059604883194, 0.027048982679843903, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [635]}, "observation.state.tcp": {"min": [0.31498071551322937, 0.1348942369222641, 0.8967723250389099, -1.2115631103515625, 1.2181055545806885, -1.3009922504425049, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.32649466395378113, -0.2826354205608368, 0.8705952167510986, -1.070239543914795, 1.2175439596176147, 0.5003689527511597, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4077986776828766, 0.2539311945438385, 1.0518494844436646, -0.15394699573516846, 2.029165029525757, -0.7611508369445801, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4357755184173584, -0.09463831037282944, 1.1011513471603394, 1.2265554666519165, 1.822715163230896, 1.6174745559692383, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.33864495158195496, 0.19282858073711395, 0.9573288559913635, -0.46919551491737366, 1.7894388437271118, -1.0276155471801758, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.36102214455604553, -0.21327699720859528, 0.9946439266204834, 0.41180136799812317, 1.5971437692642212, 1.1513783931732178, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.023011136800050735, 0.03968504071235657, 0.04288891702890396, 0.259599894285202, 0.19433395564556122, 0.12731143832206726, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.021763034164905548, 0.0557122603058815, 0.06730489432811737, 0.7665225863456726, 0.1522706151008606, 0.3281601369380951, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [635]}, "action": {"min": [0.9391797780990601, -0.9531773328781128, -0.23134347796440125, 1.1773302555084229, -1.077046275138855, -0.7699999809265137, 0.10661166906356812, 0.0, -0.295296847820282, -0.03918237239122391, -0.08555635809898376, 0.0, 0.0, -0.16818439960479736, 0.0, 0.0, 0.0, -0.18017826974391937, 0.0, 0.0, 0.0, -0.10703591257333755, 0.0, 0.0, 0.0, -0.0003243825922254473, -0.14960473775863647, 0.0, 0.0, 0.8850110769271851, -0.976091206073761, -0.23364445567131042, 1.0138654708862305, -2.0249505043029785, -0.7681753039360046, -0.02099636197090149, 0.0, -0.2896899878978729, 0.0, -0.11177287995815277, 0.0, 0.0, -0.18591134250164032, 0.0, 0.0, 0.0, -0.12647199630737305, 0.0, 0.0, 0.0, -0.04185567423701286, 0.0, 0.0, -9.99999993922529e-09, -0.0006705992855131626, -0.0585751086473465, 0.0, 0.0, 0.5622044205665588, -1.1069588661193848, 0.5442000031471252, -7.775674180113481e-20, -0.01715245097875595, -2.246846502844872e-18, -0.8323814272880554], "max": [1.2477974891662598, -0.5890486240386963, 2.51034033748027e-18, 1.667437195777893, 0.07497331500053406, -0.3834952116012573, 0.5199999809265137, 1.3250707387924194, 0.0, 0.294840931892395, 0.1643514186143875, 0.2052461951971054, 0.7527838349342346, 0.0, 0.47543326020240784, 0.5603349208831787, 0.7364234328269958, 0.004490693099796772, 0.3487550914287567, 0.32679441571235657, 0.4560081362724304, 0.09399222582578659, 0.3405495882034302, 0.4096132218837738, 0.26180002093315125, 0.06967520713806152, 0.0, 0.8335654139518738, 1.3702328205108643, 1.3458764553070068, -0.5443714261054993, -0.0009378680260851979, 1.5803837776184082, 0.22378839552402496, -0.04362257942557335, 0.6604745984077454, 1.5063155889511108, 0.04341963306069374, 0.30219972133636475, 0.15412107110023499, 0.4683911204338074, 0.8924643397331238, 0.14355242252349854, 0.5246639847755432, 0.5708557367324829, 1.1017394065856934, 0.15397922694683075, 0.38849565386772156, 0.34084373712539673, 1.0022073984146118, 0.15174488723278046, 0.42988571524620056, 0.6052013039588928, 0.022962292656302452, 0.33435407280921936, 0.14112786948680878, 0.834227979183197, 1.383070707321167, 0.5626999735832214, -1.106863021850586, 0.5539746284484863, 0.006247940007597208, 2.367824562562896e-18, 0.21891279518604279, -0.6000000238418579], "mean": [1.0349133014678955, -0.7447732090950012, -0.22074203193187714, 1.3890477418899536, -0.7219168543815613, -0.5058302879333496, 0.26116615533828735, 1.0600260496139526, -0.19114504754543304, 0.13338330388069153, 0.08597537875175476, 0.17727310955524445, 0.41149798035621643, -0.08769942820072174, 0.3323392868041992, 0.44237449765205383, 0.37943318486213684, -0.08780311048030853, 0.2335519641637802, 0.2341703325510025, 0.1588733196258545, -0.007120688911527395, 0.15119309723377228, 0.1911296248435974, 0.13381719589233398, 0.02677997760474682, -0.06546568125486374, 0.3503444194793701, 0.796728253364563, 1.130158543586731, -0.7408987879753113, -0.22185969352722168, 1.330034613609314, -0.6685799956321716, -0.25686392188072205, 0.4224250018596649, 1.2293057441711426, -0.1150645911693573, 0.21587413549423218, 0.004500331822782755, 0.2899083197116852, 0.5565248727798462, 0.02286384254693985, 0.3412919342517853, 0.39590901136398315, 0.5917346477508545, 0.04186789318919182, 0.23475085198879242, 0.23271916806697845, 0.4384017288684845, 0.07321599870920181, 0.22749395668506622, 0.3316137492656708, 0.0027516281697899103, 0.09838458150625229, 0.05803347006440163, 0.4097689986228943, 0.9204686880111694, 0.5623116493225098, -1.106870174407959, 0.5525012016296387, 0.004756592214107513, -0.012501850724220276, 0.08364824205636978, -0.778592586517334], "std": [0.0742759183049202, 0.09484215825796127, 0.04267515987157822, 0.11890794336795807, 0.2865651845932007, 0.08894915878772736, 0.11873132735490799, 0.3144019842147827, 0.08626808226108551, 0.10590273886919022, 0.05679161846637726, 0.040477946400642395, 0.21623390913009644, 0.04961783066391945, 0.1180223897099495, 0.15441128611564636, 0.23727403581142426, 0.05048388987779617, 0.1099206879734993, 0.10859718173742294, 0.177138552069664, 0.06348996609449387, 0.13306288421154022, 0.16452081501483917, 0.051583435386419296, 0.0254095196723938, 0.04070395603775978, 0.2573937773704529, 0.5182446241378784, 0.14203377068042755, 0.08917722851037979, 0.04080451652407646, 0.18600252270698547, 0.6969563961029053, 0.15708228945732117, 0.2314591407775879, 0.3404376208782196, 0.11494193226099014, 0.05902547389268875, 0.08290932327508926, 0.1444597989320755, 0.29037225246429443, 0.10441526025533676, 0.12691454589366913, 0.13386742770671844, 0.43277376890182495, 0.08987242728471756, 0.11782457679510117, 0.11343241482973099, 0.43598058819770813, 0.06069042161107063, 0.17159734666347504, 0.2542554438114166, 0.0066089206375181675, 0.11721545457839966, 0.05861355736851692, 0.3030637800693512, 0.47971004247665405, 6.871219375170767e-05, 1.4456220014835708e-05, 0.0015513733960688114, 0.0009938173461705446, 0.002414094051346183, 0.06490391492843628, 0.045918334275484085], "count": [635]}, "observation.state.tcp_pose": {"min": [0.31498071551322937, 0.1348942369222641, 0.8967723250389099, -1.2115631103515625, 1.2181055545806885, -1.3009922504425049, 0.32649466395378113, -0.2826354205608368, 0.8705952167510986, -1.070239543914795, 1.2175439596176147, 0.5003689527511597], "max": [0.4077986776828766, 0.2539311945438385, 1.0518494844436646, -0.15394699573516846, 2.029165029525757, -0.7611508369445801, 0.4357755184173584, -0.09463831037282944, 1.1011513471603394, 1.2265554666519165, 1.822715163230896, 1.6174745559692383], "mean": [0.33864495158195496, 0.19282858073711395, 0.9573288559913635, -0.46919551491737366, 1.7894388437271118, -1.0276155471801758, 0.36102214455604553, -0.21327699720859528, 0.9946439266204834, 0.41180136799812317, 1.5971437692642212, 1.1513783931732178], "std": [0.023011136800050735, 0.03968504071235657, 0.04288891702890396, 0.259599894285202, 0.19433395564556122, 0.12731143832206726, 0.021763034164905548, 0.0557122603058815, 0.06730489432811737, 0.7665225863456726, 0.1522706151008606, 0.3281601369380951], "count": [635]}, "action.tcp_pose": {"min": [0.3150055408477783, 0.13474403321743011, 0.8967608213424683, -1.208855390548706, 1.2178406715393066, -1.2988172769546509, 0.3254215717315674, -0.28568235039711, 0.8704432845115662, -1.0703318119049072, 1.21834397315979, 0.5005791187286377], "max": [0.4077485203742981, 0.2539583742618561, 1.0518072843551636, -0.15413980185985565, 2.0289466381073, -0.7611327171325684, 0.4353644847869873, -0.09478583186864853, 1.1025077104568481, 1.2254046201705933, 1.8217722177505493, 1.6199567317962646], "mean": [0.33865925669670105, 0.19288241863250732, 0.9574065804481506, -0.4689280688762665, 1.7890647649765015, -1.027761459350586, 0.3611844480037689, -0.21366240084171295, 0.9948415160179138, 0.4158226549625397, 1.5967841148376465, 1.15276038646698], "std": [0.023057488724589348, 0.03969698026776314, 0.04303612932562828, 0.25934702157974243, 0.1944936364889145, 0.1274866759777069, 0.021857479587197304, 0.05562262609601021, 0.06734149903059006, 0.7632824182510376, 0.1521826833486557, 0.3271481394767761], "count": [635]}, "subtask_index": {"min": [0], "max": [4], "mean": [1.8566929133858268], "std": [1.353885662089961], "count": [635]}, "observation.tactile": {"min": [-1.7521421909332275, -4.778975562658161e-05, -0.00010846108489204198, -0.021959146484732628, -0.0063644596375525, -0.018993444740772247, -0.04312119632959366, -4.330364754423499e-05, -9.856918768491596e-05, -0.014933747239410877, -0.003304167650640011, -0.0007618718082085252, -0.12148979306221008, -3.810725320363417e-05, -8.33976810099557e-05, -0.0104393120855093, -0.0010984513210132718, -0.001772223156876862, -0.011712622828781605, -3.9204729546327144e-05, -8.923027780838311e-05, -0.0010153118055313826, -5.5858898122096434e-05, -0.0002332512231077999, -0.3025592863559723, -4.460371928871609e-05, -0.00010101040970766917, -0.007028232328593731, -0.0009084808407351375, -0.005444353446364403, -0.004210956860333681, -3.975527215516195e-05, -8.890092431101948e-05, -0.1522643268108368, -1.9469157450657804e-06, -0.002338680438697338, -2.9307525157928467, -3.131131234113127e-05, -6.972357368795201e-05, -0.0502297468483448, -0.011188608594238758, -0.03819137066602707, -2.277350425720215, -4.238425026414916e-05, -9.761132241692394e-05, -0.046611253172159195, -0.015372867695987225, -0.0198964886367321, -1.926135540008545, -4.4963926484342664e-05, -0.00010133521573152393, -0.045133575797080994, -0.0021007012110203505, -0.02850775606930256, -0.3517581820487976, -5.653340485878289e-05, -0.5382293462753296, -0.033894848078489304, -0.00542714586481452, -0.0066468422301113605], "max": [0.0003666769771371037, 0.5737079977989197, 1.949709415435791, 2.011216793107451e-06, 9.767698065843433e-05, 7.675320375710726e-06, 0.610476016998291, 0.518653929233551, 1.2864340543746948, 1.8192245079262648e-06, 0.0006263391114771366, 0.00889639277011156, 0.39693596959114075, 0.3411724865436554, 1.0125770568847656, 1.5858624919928843e-06, 0.001463505788706243, 0.004495875909924507, 0.00031987251713871956, 0.015189439989626408, 0.04335841163992882, 1.5989219264156418e-06, 8.7040985818021e-05, 6.556929747603135e-06, 0.20232601463794708, 0.19671447575092316, 0.3162766098976135, 1.8675369801712804e-06, 0.0006843621376901865, 0.0038144681602716446, 4.211639404296875, 5.059591293334961, 13.259744644165039, 1.6921746919251746e-06, 0.051031339913606644, 0.03935898840427399, 0.6598057150840759, 1.5903030633926392, 4.215219020843506, 1.2638527095987229e-06, 0.00884254276752472, 0.013107025064527988, 0.8531739115715027, 1.4382117986679077, 5.2282395362854, 1.7859442777989898e-06, 0.0009474187390878797, 0.009556131437420845, 0.01669733040034771, 1.363498330116272, 3.2347302436828613, 1.8563555386208463e-06, 0.004467216785997152, 0.00039618698065169156, 4.032065391540527, 5.79872989654541, 1.6907349824905396, 0.018780136480927467, 0.007057444658130407, 0.058195434510707855], "mean": [-0.524717390537262, 0.13053296506404877, 0.6331002712249756, -0.007075597997754812, -0.0014272219268605113, -0.005558520555496216, 0.010803688317537308, 0.012287870049476624, 0.032966066151857376, -0.00041404651710763574, -2.2697133317706175e-05, 0.0001384531205985695, 0.002003924222663045, 0.013564911670982838, 0.0398092046380043, -0.000461637886473909, 2.7126778149977326e-05, -4.89815931814519e-07, -0.0004339491715654731, 0.0009362782002426684, 0.0027192234992980957, -5.817534838570282e-05, 6.885933316880255e-07, -1.0167540494876448e-05, 0.006340725347399712, 0.005336328409612179, 0.013178406283259392, -0.00025190209271386266, 5.513769428944215e-05, 9.098133159568533e-05, 0.9262006878852844, 1.8843852281570435, 5.042675495147705, -0.0562109537422657, 0.019092459231615067, 0.0036315196193754673, -0.5679039359092712, 0.49679967761039734, 1.5366395711898804, -0.018213942646980286, -0.0013995293993502855, -0.00621683057397604, -0.5706498622894287, 0.4832392632961273, 1.7844542264938354, -0.01580800861120224, -0.0027627861127257347, -0.0042405198328197, -0.6046700477600098, 0.4631103575229645, 1.0609471797943115, -0.014784624800086021, 0.0004254955565556884, -0.008473320864140987, 0.07947073876857758, 0.15909434854984283, 0.06855446845293045, -0.0012393987271934748, -9.946299542207271e-06, 0.0009575022268109024], "std": [0.6109974384307861, 0.1483236700296402, 0.7244564890861511, 0.008094646967947483, 0.0016615958884358406, 0.006569541525095701, 0.06453052908182144, 0.055538859218358994, 0.14129379391670227, 0.001687541138380766, 0.00032246054615825415, 0.0009001429425552487, 0.03765363246202469, 0.03632664680480957, 0.11347584426403046, 0.0011697732843458652, 0.00017302457126788795, 0.0004301118606235832, 0.0014637053245678544, 0.00206532864831388, 0.00601400388404727, 0.00013017290621064603, 1.5070513654791284e-05, 3.2258540159091353e-05, 0.03040693700313568, 0.014269576407968998, 0.02459312602877617, 0.0005043691489845514, 0.00011360448115738109, 0.0005258686724118888, 1.0590779781341553, 2.1012065410614014, 5.624989032745361, 0.06300719827413559, 0.021816879510879517, 0.007378417532891035, 0.7066036462783813, 0.5288425087928772, 1.6323776245117188, 0.019304797053337097, 0.002770821563899517, 0.00847652554512024, 0.8065454959869385, 0.5725906491279602, 2.047590494155884, 0.01796134002506733, 0.0035129764582961798, 0.006460580509155989, 0.7514869570732117, 0.5604082942008972, 1.2879886627197266, 0.0179247185587883, 0.001161589752882719, 0.010640675202012062, 0.523871660232544, 0.7495589256286621, 0.2246149778366089, 0.0044676680117845535, 0.0011189531069248915, 0.007426263298839331], "count": [635]}, "timestamp": {"min": [0.0], "max": [21.133333333333333], "mean": [10.566666666666666], "std": [6.1102827721436554], "count": [635]}, "frame_index": {"min": [0], "max": [634], "mean": [317.0], "std": [183.30848316430968], "count": [635]}, "episode_index": {"min": [21], "max": [21], "mean": [21.0], "std": [0.0], "count": [635]}, "index": {"min": [14253], "max": [14887], "mean": [14570.0], "std": [183.30848316430968], "count": [635]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [635]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5367541313171387]], [[0.536202609539032]], [[0.5381181240081787]]], "std": [[[0.2837282121181488]], [[0.28393006324768066]], [[0.2847045063972473]]], "count": [635]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.21768629550933838]], [[0.21702498197555542]], [[0.2134319543838501]]], "std": [[[0.1474921554327011]], [[0.14773645997047424]], [[0.1491665542125702]]], "count": [635]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.29718995094299316]], [[0.2992703318595886]], [[0.3006020486354828]]], "std": [[[0.16935762763023376]], [[0.1722644716501236]], [[0.17287711799144745]]], "count": [635]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5380135774612427]], [[0.5377110838890076]], [[0.5392848253250122]]], "std": [[[0.28783470392227173]], [[0.28795114159584045]], [[0.2886473536491394]]], "count": [635]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5254902243614197]], [[0.5254902243614197]], [[0.5254902243614197]]], "mean": [[[0.0023453938774764538]], [[0.0023453938774764538]], [[0.0023453938774764538]]], "std": [[[0.026458224281668663]], [[0.026458224281668663]], [[0.026458224281668663]]], "count": [635]}, "observation.images.tactile_raw": {"min": [[[0.07058823853731155]], [[0.07058823853731155]], [[0.07058823853731155]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5082612633705139]], [[0.5082612633705139]], [[0.5082612633705139]]], "std": [[[0.23625844717025757]], [[0.23625844717025757]], [[0.23625844717025757]]], "count": [635]}}}
+{"episode_index": 22, "stats": {"observation.state": {"min": [0.893426239490509, -0.8702784776687622, -0.23135127127170563, 1.1403168439865112, -0.959526538848877, -0.7700484991073608, 0.1517145335674286, 0.009209288284182549, -0.28707462549209595, -0.02621595747768879, -0.11192423105239868, 0.011772905476391315, 0.026192685589194298, -0.1699104905128479, 0.011102071963250637, 0.009944645687937737, 0.015617437660694122, -0.18371285498142242, 0.017627447843551636, 0.009130964055657387, -0.015633873641490936, -0.035569578409194946, 0.014303065836429596, 0.011072269640862942, 0.025641266256570816, 0.0019632496405392885, -0.032193318009376526, 0.011314100585877895, 0.007445957511663437, 0.9050229787826538, -0.9069107174873352, -0.2335902899503708, 0.9977054595947266, -2.0390784740448, -0.7689751386642456, -0.033947236835956573, 0.012340420857071877, -0.2924976646900177, -0.009967757388949394, -0.07613921165466309, 0.014488857239484787, 0.009768656454980373, -0.1653859168291092, 0.008637151680886745, 0.010374765843153, 0.009979872032999992, -0.10838004946708679, 0.015099413692951202, 0.008440554141998291, -0.0053412276320159435, -0.028957867994904518, 0.01025998592376709, 0.010038207285106182, 0.02950950711965561, -0.07130523025989532, -0.05118456110358238, 0.010710280388593674, 0.002800215734168887, 0.5620121955871582, -1.1069588661193848, 0.5441796779632568, 0.0, -0.014956312254071236, -0.0001917476038215682, -0.8030389547348022], "max": [1.2744618654251099, -0.5283438563346863, 1.3901701095164753e-05, 1.5700181722640991, 0.1677122712135315, -0.4014278054237366, 0.5200290679931641, 1.2733045816421509, -0.003672621911391616, 0.2885488271713257, 0.12814059853553772, 0.22930040955543518, 0.6075858473777771, -0.001711311750113964, 0.4318912625312805, 0.569754958152771, 0.7324784994125366, -0.0013273947406560183, 0.3406037390232086, 0.3201899230480194, 0.5681260824203491, 0.10300230234861374, 0.3311574459075928, 0.3819613754749298, 0.25306248664855957, 0.08482817560434341, 0.06780876964330673, 0.6135678887367249, 1.3603358268737793, 1.3767715692520142, -0.5399967432022095, -0.0004077033372595906, 1.5699435472488403, 0.3074497580528259, -0.029779599979519844, 0.6262487173080444, 1.475906252861023, 0.03458450734615326, 0.2260086089372635, 0.14325067400932312, 0.4739970266819, 0.6391724944114685, 0.08128362149000168, 0.40174031257629395, 0.48752614855766296, 0.7312129139900208, 0.16791732609272003, 0.6446360349655151, 0.3564086854457855, 0.8168954849243164, 0.16249708831310272, 0.3332926332950592, 0.47161880135536194, 0.05405259132385254, 0.12903551757335663, 0.13988526165485382, 0.9665401577949524, 1.0120879411697388, 0.5626833438873291, -1.106767177581787, 0.5534794330596924, 0.006327670533210039, 0.0, 0.23258984088897705, -0.5997864603996277], "mean": [1.0247551202774048, -0.6941176056861877, -0.21960020065307617, 1.3614104986190796, -0.6307188272476196, -0.5765109658241272, 0.3135446608066559, 1.0536537170410156, -0.2021658718585968, 0.10708728432655334, 0.05855897441506386, 0.18454961478710175, 0.3764771521091461, -0.08963242918252945, 0.3240707218647003, 0.45323383808135986, 0.39124900102615356, -0.08640065789222717, 0.2384760081768036, 0.2322261482477188, 0.18676546216011047, 0.021369686350226402, 0.13809113204479218, 0.16433236002922058, 0.1371086835861206, 0.031546205282211304, -0.0003994297294411808, 0.2175302356481552, 0.5544275045394897, 1.1745444536209106, -0.7162942290306091, -0.22204618155956268, 1.3228803873062134, -0.6566861271858215, -0.22982965409755707, 0.36151522397994995, 1.2081291675567627, -0.07423829287290573, 0.08660797029733658, 0.022519251331686974, 0.293520987033844, 0.4097021520137787, -0.023965731263160706, 0.26978015899658203, 0.33010873198509216, 0.368914395570755, 0.037033602595329285, 0.49445053935050964, 0.2918851971626282, 0.3334572911262512, 0.0685846284031868, 0.16704310476779938, 0.22902542352676392, 0.03519532456994057, 0.0383065827190876, 0.051972102373838425, 0.3950851559638977, 0.482218474149704, 0.5621300935745239, -1.1068675518035889, 0.5525580048561096, 0.004696053918451071, -0.012385264039039612, 0.0834643766283989, -0.7548236846923828], "std": [0.08951487392187119, 0.12326721847057343, 0.044534653425216675, 0.10686176270246506, 0.2848877012729645, 0.06467794626951218, 0.11811678111553192, 0.27435532212257385, 0.07249351590871811, 0.07406458258628845, 0.0665656328201294, 0.04210136458277702, 0.18271467089653015, 0.052039239555597305, 0.11374128609895706, 0.1518794745206833, 0.26246070861816406, 0.06425364315509796, 0.10358262062072754, 0.09844780713319778, 0.23982687294483185, 0.05524256452918053, 0.13264702260494232, 0.1531083881855011, 0.08082586526870728, 0.033186037093400955, 0.043199822306632996, 0.24352429807186127, 0.5372216105461121, 0.14919322729110718, 0.07551391422748566, 0.041280053555965424, 0.1544894427061081, 0.7925828099250793, 0.13334421813488007, 0.26298487186431885, 0.34353524446487427, 0.09299227595329285, 0.06866419315338135, 0.06598076224327087, 0.148995041847229, 0.19760164618492126, 0.08347379416227341, 0.08129231631755829, 0.10139933973550797, 0.2885298728942871, 0.09406908601522446, 0.11879179626703262, 0.06429246068000793, 0.368343323469162, 0.07086258381605148, 0.14465361833572388, 0.21515989303588867, 0.004169753286987543, 0.0468825064599514, 0.06161719933152199, 0.42081743478775024, 0.4644177556037903, 0.000128219326143153, 1.007041191769531e-05, 0.0016213009366765618, 0.0010425790678709745, 0.0024612366687506437, 0.0674712285399437, 0.04114420339465141], "count": [600]}, "observation.state.joint_torque": {"min": [-31.488000869750977, -6.675000190734863, -16.52899932861328, -6.989999771118164, -0.12319999933242798, -1.0831999778747559, 0.8704000115394592, -0.8749133944511414, -0.44318756461143494, -0.5728798508644104, -0.6822365522384644, -0.10293588042259216, -0.38954249024391174, -0.44902920722961426, -0.13614100217819214, -0.03068062849342823, -0.3905019462108612, -0.40393444895744324, -0.14610254764556885, -0.016410568729043007, -0.2916771173477173, -0.3319746255874634, -0.09463459998369217, -0.022832093760371208, -0.08708061277866364, -0.2724878489971161, -0.40777233242988586, -0.11787818372249603, -0.20691587030887604, 16.429500579833984, -6.364500045776367, 6.061999797821045, -7.15500020980835, -1.791200041770935, -1.9079999923706055, -3.026400089263916, -0.9334957003593445, -0.6558666825294495, -0.3019735813140869, -0.585306704044342, -0.0979551151394844, -0.3434881865978241, -0.6620303392410278, -0.0879935771226883, -0.022118592634797096, -0.4029749929904938, -1.0745999813079834, -0.10459613054990768, -0.021405089646577835, -0.5536108613014221, -0.735909104347229, -0.24571789801120758, -0.08205283433198929, -0.10775126516819, -0.35596123337745667, -0.6150165796279907, -0.2390768826007843, -0.13627907633781433, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-18.62700080871582, 7.328999996185303, -9.32699966430664, 0.5049999952316284, 1.753600001335144, 2.1224000453948975, 3.3919999599456787, 1.035377860069275, 1.677235722541809, 1.0165201425552368, 1.005335807800293, 0.09629485011100769, 0.9373965263366699, 0.4739753305912018, 0.0979551151394844, 0.039956167340278625, 0.5795164108276367, 0.32333946228027344, 0.11289741843938828, 0.022118592634797096, 0.2792041003704071, 0.3386908769607544, 0.10957689583301544, 0.022832093760371208, 0.05365573614835739, 0.3051096200942993, 0.3127853572368622, 0.09131408482789993, 0.09489589184522629, 38.40599822998047, 12.831000328063965, 18.41900062561035, 4.781000137329102, 1.0720000267028809, 2.7848000526428223, 0.892799973487854, 0.9054780006408691, 2.502481698989868, 0.9779967665672302, 0.8599412441253662, 0.3702370822429657, 1.082275629043579, 0.5046781897544861, 0.1593845784664154, 0.02425910159945488, 1.2684117555618286, 0.9057342410087585, 0.27062171697616577, 0.03710215538740158, 1.0256673097610474, 0.3550017476081848, 0.41340377926826477, 0.08704736083745956, -0.01451343484222889, 0.5939083099365234, 0.5545703768730164, 0.0979551151394844, 0.08062583953142166, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-25.29199981689453, 2.343834161758423, -12.540508270263672, -4.114475250244141, 0.6348199844360352, 0.8678319454193115, 2.1064043045043945, 0.16921567916870117, 0.5975115895271301, 0.2715854346752167, 0.3070436716079712, -0.010016942396759987, 0.3544069528579712, 0.02932760864496231, 0.023819122463464737, 0.0010595491621643305, 0.16552689671516418, -0.007838829420506954, -0.017053596675395966, 0.0002639949379954487, 0.05104188248515129, 0.0055824765004217625, 0.016414295881986618, 0.0037090296391397715, -0.0370466485619545, -0.031169680878520012, -0.04781024530529976, 0.0036055073142051697, 0.0024651491548866034, 26.536771774291992, 2.527477979660034, 13.176429748535156, -2.379020929336548, -0.3697480857372284, 0.5879373550415039, -1.441606044769287, 0.08915739506483078, 0.6453112363815308, 0.3167428970336914, -0.014268132857978344, 0.12101605534553528, 0.37275034189224243, -0.008937413804233074, 0.051122065633535385, -0.0007872312562540174, 0.39658644795417786, -0.181797593832016, 0.09608453512191772, 0.015968186780810356, 0.21829871833324432, -0.11731210350990295, 0.01226930133998394, 0.009264818392693996, -0.04550917446613312, -0.0386856272816658, -0.09292729198932648, -0.0031517078168690205, 0.0012783583952113986, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [2.0450263023376465, 2.3112831115722656, 1.2766627073287964, 1.0823315382003784, 0.2969503700733185, 0.5357367992401123, 0.4383552074432373, 0.36689653992652893, 0.7413902282714844, 0.4804612994194031, 0.39675605297088623, 0.050538577139377594, 0.4018268287181854, 0.17153269052505493, 0.043266262859106064, 0.011966218240559101, 0.2597583532333374, 0.12042994797229767, 0.055572185665369034, 0.00902479700744152, 0.16044361889362335, 0.1328652799129486, 0.06404617428779602, 0.01186743937432766, 0.029464945197105408, 0.177402526140213, 0.08725201338529587, 0.05342993140220642, 0.016194170340895653, 2.4298973083496094, 2.3702828884124756, 2.058197498321533, 1.1947765350341797, 0.4899976849555969, 1.1179009675979614, 0.9695476293563843, 0.42201507091522217, 0.8659693002700806, 0.37126272916793823, 0.22001393139362335, 0.14320819079875946, 0.42274171113967896, 0.18040180206298828, 0.04453204944729805, 0.01069443766027689, 0.5253946781158447, 0.32571184635162354, 0.09235929697751999, 0.011517174541950226, 0.36644446849823, 0.18374857306480408, 0.1037212684750557, 0.022456616163253784, 0.014451071619987488, 0.15870791673660278, 0.20298705995082855, 0.05341022089123726, 0.013684355653822422, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [600]}, "observation.state.tcp": {"min": [0.3086867034435272, 0.1080632135272026, 0.8882991671562195, -1.229011058807373, 1.2178394794464111, -1.3744776248931885, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3350953757762909, -0.2805212140083313, 0.8755335807800293, -1.0809450149536133, 1.2183328866958618, 0.38758575916290283, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.40490439534187317, 0.25184401869773865, 1.0644232034683228, -0.24367718398571014, 1.8767911195755005, -0.8528614044189453, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.4235621988773346, -0.10476389527320862, 1.0996956825256348, 1.397931456565857, 1.8650476932525635, 1.676459550857544, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.34125828742980957, 0.17763777077198029, 0.9558590650558472, -0.552873969078064, 1.7087382078170776, -1.063970685005188, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3766848146915436, -0.206307515501976, 1.0091756582260132, 0.43149471282958984, 1.589637041091919, 1.0848842859268188, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.022458571940660477, 0.047002460807561874, 0.04680969938635826, 0.2543119490146637, 0.1561603844165802, 0.1119799017906189, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01926722377538681, 0.04958854988217354, 0.06692023575305939, 0.8493890166282654, 0.19130787253379822, 0.39409932494163513, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [600]}, "action": {"min": [0.8934479355812073, -0.8703423738479614, -0.23134347796440125, 1.1403230428695679, -0.959505021572113, -0.7699999809265137, 0.1515764743089676, 0.0, -0.29231932759284973, -0.0364486426115036, -0.11157969385385513, 0.0, 0.0, -0.16968941688537598, 0.0, 0.0, 0.0, -0.1831178516149521, 0.0, 0.0, 0.0, -0.11792799085378647, 0.0, 0.0, 0.0, 0.0, -0.13127239048480988, 0.0, 0.0, 0.905048668384552, -0.9071578979492188, -0.23357310891151428, 0.9975669384002686, -2.03904390335083, -0.7669254541397095, -0.034035198390483856, 0.0, -0.2864249348640442, 0.0, -0.09275584667921066, 0.0, 0.0, -0.17231014370918274, 0.0, 0.0, 0.0, -0.11441890150308609, 0.0, 0.0, 0.0, -0.0513916052877903, 0.0, 0.0, -9.99999993922529e-09, -1.630450969969388e-05, -0.0791591927409172, 0.0, 0.0, 0.5621080994606018, -1.1069588661193848, 0.5442000031471252, -1.62441444349828e-19, -0.016002558171749115, 2.4854790105796823e-18, -0.8037194013595581], "max": [1.274450421333313, -0.5283605456352234, -6.4321465170449926e-18, 1.5700000524520874, 0.16768327355384827, -0.39873912930488586, 0.5199999809265137, 1.2894196510314941, 0.0, 0.29243916273117065, 0.13548234105110168, 0.24146123230457306, 0.6778116226196289, 0.0, 0.4546601474285126, 0.5883762836456299, 0.7731010913848877, 0.005778201390057802, 0.3592323660850525, 0.3355084955692291, 0.5834243893623352, 0.10862446576356888, 0.34995949268341064, 0.3976276218891144, 0.2507481873035431, 0.09428062289953232, 0.07043109089136124, 0.6271620988845825, 1.3930773735046387, 1.3767478466033936, -0.5398653745651245, -0.0017315602162852883, 1.568984031677246, 0.30775028467178345, -0.02972087822854519, 0.6263435482978821, 1.521074652671814, 0.11171230673789978, 0.237070232629776, 0.14230293035507202, 0.5512421727180481, 0.7243549227714539, 0.08981657028198242, 0.44085368514060974, 0.49940958619117737, 0.8738669753074646, 0.15859219431877136, 0.6978856325149536, 0.3728996515274048, 0.944445788860321, 0.162621408700943, 0.3882823586463928, 0.5174188613891602, 0.028000453487038612, 0.12001028656959534, 0.14437654614448547, 0.9803303480148315, 1.0264962911605835, 0.5626999735832214, -1.106863021850586, 0.5541357398033142, 0.006559906527400017, -4.440239353735648e-19, 0.2328367531299591, -0.6000000238418579], "mean": [1.0249115228652954, -0.6942011713981628, -0.21965239942073822, 1.361533761024475, -0.6310960650444031, -0.576657772064209, 0.31360429525375366, 1.0562427043914795, -0.17170482873916626, 0.1409633606672287, 0.07052423059940338, 0.18164107203483582, 0.4233790338039398, -0.08919531852006912, 0.32969164848327637, 0.45418232679367065, 0.40490537881851196, -0.08805572241544724, 0.2330891489982605, 0.23120884597301483, 0.18554987013339996, 0.0031651740428060293, 0.1399359554052353, 0.16569584608078003, 0.11832265555858612, 0.029057735577225685, -0.03737908601760864, 0.2143888920545578, 0.5642887353897095, 1.1751631498336792, -0.7168945670127869, -0.2221028357744217, 1.323153018951416, -0.6548759341239929, -0.23027563095092773, 0.3616095781326294, 1.2107853889465332, -0.039047721773386, 0.12513308227062225, 0.021339120343327522, 0.32379475235939026, 0.463657945394516, -0.024224430322647095, 0.2823868691921234, 0.32881876826286316, 0.4321388304233551, 0.027509517967700958, 0.5181981325149536, 0.3076629042625427, 0.3660131096839905, 0.062110304832458496, 0.17001959681510925, 0.2385360151529312, 0.0027555483393371105, 0.03671662509441376, 0.04500309005379677, 0.3930102586746216, 0.47672683000564575, 0.5622244477272034, -1.1069515943527222, 0.5526002645492554, 0.004740499425679445, -0.012430399656295776, 0.08349724858999252, -0.7548763751983643], "std": [0.08999200910329819, 0.1233741044998169, 0.04462574049830437, 0.1068715900182724, 0.2844756841659546, 0.06502325087785721, 0.11818080395460129, 0.2979359030723572, 0.10228367894887924, 0.12116053700447083, 0.07262099534273148, 0.04561849310994148, 0.22648105025291443, 0.05625779554247856, 0.12532542645931244, 0.1608363687992096, 0.28147953748703003, 0.06705555319786072, 0.10413248091936111, 0.09918307512998581, 0.24632766842842102, 0.07848414778709412, 0.14329762756824493, 0.16249145567417145, 0.08697108924388885, 0.04081015661358833, 0.07399074733257294, 0.2548382580280304, 0.5805988907814026, 0.14883193373680115, 0.07559245079755783, 0.041217755526304245, 0.1541411131620407, 0.7911174297332764, 0.1338842660188675, 0.2627345621585846, 0.35895514488220215, 0.1183917373418808, 0.046351827681064606, 0.06866179406642914, 0.18146838247776031, 0.25030574202537537, 0.08556041121482849, 0.09452442079782486, 0.1062280461192131, 0.36153391003608704, 0.08765324205160141, 0.1407601237297058, 0.07653924077749252, 0.4117065370082855, 0.06932375580072403, 0.1650831401348114, 0.23475167155265808, 0.007463339250534773, 0.045663248747587204, 0.0674072876572609, 0.43268880248069763, 0.47461146116256714, 9.169092663796619e-05, 1.8837252355297096e-05, 0.001694928971119225, 0.0010777986608445644, 0.002569295931607485, 0.06753815710544586, 0.041562266647815704], "count": [600]}, "observation.state.tcp_pose": {"min": [0.3086867034435272, 0.1080632135272026, 0.8882991671562195, -1.229011058807373, 1.2178394794464111, -1.3744776248931885, 0.3350953757762909, -0.2805212140083313, 0.8755335807800293, -1.0809450149536133, 1.2183328866958618, 0.38758575916290283], "max": [0.40490439534187317, 0.25184401869773865, 1.0644232034683228, -0.24367718398571014, 1.8767911195755005, -0.8528614044189453, 0.4235621988773346, -0.10476389527320862, 1.0996956825256348, 1.397931456565857, 1.8650476932525635, 1.676459550857544], "mean": [0.34125828742980957, 0.17763777077198029, 0.9558590650558472, -0.552873969078064, 1.7087382078170776, -1.063970685005188, 0.3766848146915436, -0.206307515501976, 1.0091756582260132, 0.43149471282958984, 1.589637041091919, 1.0848842859268188], "std": [0.022458571940660477, 0.047002460807561874, 0.04680969938635826, 0.2543119490146637, 0.1561603844165802, 0.1119799017906189, 0.01926722377538681, 0.04958854988217354, 0.06692023575305939, 0.8493890166282654, 0.19130787253379822, 0.39409932494163513], "count": [600]}, "action.tcp_pose": {"min": [0.30847281217575073, 0.10802426934242249, 0.8881577849388123, -1.2149580717086792, 1.2178406715393066, -1.374325156211853, 0.33506491780281067, -0.2827114462852478, 0.8755404949188232, -1.0807652473449707, 1.2189184427261353, 0.3875313401222229], "max": [0.40502068400382996, 0.25133365392684937, 1.0649652481079102, -0.24372918903827667, 1.877057433128357, -0.8522688150405884, 0.4236019551753998, -0.10487226396799088, 1.0996041297912598, 1.3978757858276367, 1.863884687423706, 1.675757646560669], "mean": [0.3412933945655823, 0.17761416733264923, 0.9559224247932434, -0.5522848963737488, 1.708679437637329, -1.0640512704849243, 0.3768673837184906, -0.20660656690597534, 1.0094300508499146, 0.43303436040878296, 1.5892184972763062, 1.0855677127838135], "std": [0.02254454232752323, 0.047027621418237686, 0.0469990111887455, 0.25357940793037415, 0.15630847215652466, 0.11181450635194778, 0.01927507296204567, 0.049590907990932465, 0.06678742915391922, 0.8477057814598083, 0.19203253090381622, 0.39279699325561523], "count": [600]}, "subtask_index": {"min": [0], "max": [4], "mean": [1.8116666666666668], "std": [1.3660882922498905], "count": [600]}, "observation.tactile": {"min": [-0.029217541217803955, -4.991069727111608e-05, -0.00011455919593572617, -0.0011675978312268853, -0.0001432389981346205, -0.00035491841845214367, -0.005846602842211723, -4.326039197621867e-05, -9.855857206275687e-05, -0.0011315271258354187, -7.734238170087337e-05, -0.0001295482215937227, -0.014130348339676857, -3.6229423130862415e-05, -7.794654811732471e-05, -0.0016333122039213777, -9.67831292655319e-05, -0.0003232767339795828, -0.008115825243294239, -4.089607682544738e-05, -9.266794222639874e-05, -0.0006768599268980324, -3.5514945921022445e-05, -0.00016869098180904984, -0.005511621478945017, -4.700942008639686e-05, -0.00010610326717142016, -0.000717426126357168, -3.1482053600484505e-05, -0.00012016895925626159, -0.19077414274215698, -3.895268673659302e-05, -8.59145657159388e-05, -0.12483686208724976, -0.0004235065425746143, -0.00855611264705658, -0.008257419802248478, -3.463567918515764e-05, -7.594350608997047e-05, -0.0018177946330979466, -2.4543091058149002e-05, -0.0001929266145452857, -2.5310468673706055, -0.062617227435112, -9.18178993742913e-05, -0.049259867519140244, -0.009971854276955128, -0.025533000007271767, -1.168411135673523, -4.641633859137073e-05, -0.00010535468754824251, -0.020876752212643623, -0.005067368969321251, -0.011457151733338833, -0.005238846410065889, -5.272575072012842e-05, -0.6880080699920654, -0.05929439142346382, -0.001353936968371272, -9.758213855093345e-05], "max": [0.006580719258636236, 0.020252114161849022, 0.055374301970005035, 2.1430987544590607e-06, 0.000253345730016008, 4.1384060750715435e-05, 0.008371732197701931, 0.01712031662464142, 0.0486336350440979, 1.8480393464415101e-06, 0.00024473638040944934, 8.829264697851613e-05, 0.00029643732705153525, 0.026899157091975212, 0.07428113371133804, 1.455787810300535e-06, 9.012935333885252e-05, 6.1611272030859254e-06, 0.0009694206528365612, 0.011066357605159283, 0.03161062300205231, 1.6726049807402887e-06, 0.00011235400597797707, 6.5828307924675755e-06, 0.025347987189888954, 0.013901897706091404, 0.039635978639125824, 1.9624569631560007e-06, 0.00017069783643819392, 0.0004305716429371387, 5.799249172210693, 4.308565139770508, 11.20130443572998, 1.6424237401224673e-06, 0.04152084141969681, 0.056184012442827225, 0.047717392444610596, 0.027183018624782562, 0.08750699460506439, 1.372319957226864e-06, 0.00045790913281962276, 0.0008339266641996801, 0.8984767198562622, 2.787822723388672, 5.22737979888916, 1.661890564719215e-06, 0.0018268722342327237, 0.015948941931128502, 0.006106003187596798, 1.073032259941101, 2.2894856929779053, 1.9554115624487167e-06, 0.001998470863327384, 0.0003556183655746281, 3.1915173530578613, 2.8219711780548096, 3.1385204792022705, 0.014589261263608932, 0.015569272451102734, 0.04990851879119873], "mean": [-0.0006632040021941066, 0.002382444916293025, 0.006833033636212349, -0.00012139917816966772, 1.5732610336272046e-05, -1.5615201846230775e-05, 0.00018192797142546624, 0.0005488218739628792, 0.0016363313188776374, -3.383473085705191e-05, 2.4510461571480846e-06, 2.558218284320901e-06, -0.002510783029720187, 0.004925016313791275, 0.014044552110135555, -0.000308242131723091, 5.722501100535737e-06, -5.667690129484981e-05, -7.922103395685554e-05, 0.0004460150084923953, 0.0012947398936375976, -2.4852370188455097e-05, -1.2387574770400533e-06, -1.5073550230226829e-06, 0.00011764473310904577, 0.00046060228487476707, 0.001360533176921308, -2.4732324163778685e-05, 1.4246543855733762e-07, 2.370644324400928e-06, 0.9073721170425415, 1.0850188732147217, 3.2020208835601807, -0.0353802926838398, 0.01177947036921978, 0.006303975358605385, 0.0006953522679395974, 0.004707950633019209, 0.014235930517315865, -0.00028657319489866495, 3.980616747867316e-05, 3.012945398950251e-06, -0.5777385830879211, 0.6307409405708313, 1.9247148036956787, -0.017226748168468475, -0.0022303813602775335, -0.004516659304499626, -0.14138711988925934, 0.20047803223133087, 0.4718216061592102, -0.004299267195165157, -0.0006614030571654439, -0.0009735046769492328, 0.08227333426475525, 0.07368803024291992, 0.04770759120583534, -0.0008166317129507661, 0.00020874083566013724, 0.0011892897309735417], "std": [0.0027367575094103813, 0.0037160017527639866, 0.010545333847403526, 0.0002033213386312127, 3.8784899516031146e-05, 4.1099541704170406e-05, 0.0009079586016014218, 0.0019560540094971657, 0.0057387519627809525, 0.00012309655721765012, 2.1773515982204117e-05, 1.7357029719278216e-05, 0.002896880265325308, 0.005350677762180567, 0.015253718011081219, 0.0003412043151911348, 2.9785476726829074e-05, 6.478038994828239e-05, 0.000995446927845478, 0.001335588051006198, 0.0038456087931990623, 7.632819324498996e-05, 8.425779924436938e-06, 2.102235157508403e-05, 0.00131764926481992, 0.0015784318093210459, 0.004577170126140118, 8.645025809528306e-05, 1.0378234037489165e-05, 2.4994096747832373e-05, 1.5661815404891968, 1.4672977924346924, 4.032998561859131, 0.0446614995598793, 0.014558449387550354, 0.014338452368974686, 0.004835798870772123, 0.005320563446730375, 0.01633906550705433, 0.000347697117831558, 6.36791592114605e-05, 8.686526416568086e-05, 0.820269763469696, 0.7720251679420471, 2.201782703399658, 0.019783057272434235, 0.002973197028040886, 0.0077332183718681335, 0.22790171205997467, 0.3259609341621399, 0.7410233616828918, 0.006666114553809166, 0.0014359141932800412, 0.0018538812873885036, 0.42274245619773865, 0.39008772373199463, 0.30593952536582947, 0.0054767378605902195, 0.0013185458956286311, 0.006333253346383572], "count": [600]}, "timestamp": {"min": [0.0], "max": [19.966666666666665], "mean": [9.983333333333333], "std": [5.77349467313695], "count": [600]}, "frame_index": {"min": [0], "max": [599], "mean": [299.5], "std": [173.2048401941085], "count": [600]}, "episode_index": {"min": [22], "max": [22], "mean": [22.0], "std": [0.0], "count": [600]}, "index": {"min": [14888], "max": [15487], "mean": [15187.5], "std": [173.2048401941085], "count": [600]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [600]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5329899191856384]], [[0.5325188040733337]], [[0.5344973802566528]]], "std": [[[0.28175118565559387]], [[0.2818780839443207]], [[0.28290262818336487]]], "count": [600]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2242489457130432]], [[0.22369012236595154]], [[0.21932564675807953]]], "std": [[[0.15008293092250824]], [[0.15032342076301575]], [[0.15143629908561707]]], "count": [600]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2981610596179962]], [[0.30023178458213806]], [[0.30067241191864014]]], "std": [[[0.1690400093793869]], [[0.17186351120471954]], [[0.17200560867786407]]], "count": [600]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5325775742530823]], [[0.5323130488395691]], [[0.5341029763221741]]], "std": [[[0.2853771150112152]], [[0.2854897677898407]], [[0.2864384949207306]]], "count": [600]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5137255191802979]], [[0.5137255191802979]], [[0.5137255191802979]]], "mean": [[[0.0013059121556580067]], [[0.0013059121556580067]], [[0.0013059121556580067]]], "std": [[[0.020331695675849915]], [[0.020331695675849915]], [[0.020331695675849915]]], "count": [600]}, "observation.images.tactile_raw": {"min": [[[0.08235294371843338]], [[0.08235294371843338]], [[0.08235294371843338]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5082547068595886]], [[0.5082547068595886]], [[0.5082547068595886]]], "std": [[[0.23596982657909393]], [[0.23596982657909393]], [[0.23596982657909393]]], "count": [600]}}}
+{"episode_index": 23, "stats": {"observation.state": {"min": [0.9178783297538757, -0.930357813835144, -0.2311730682849884, 1.0832384824752808, -0.9740442633628845, -0.7700604796409607, 0.14442728459835052, 0.012831139378249645, -0.28987061977386475, -0.025823889300227165, -0.07592897117137909, 0.02216337062418461, 0.013734650798141956, -0.16957589983940125, 0.0111868130043149, 0.006963069550693035, 0.007112150080502033, -0.1820192188024521, 0.013926166109740734, 0.007931948639452457, -0.029004722833633423, -0.036696791648864746, 0.015108278952538967, 0.011422574520111084, 0.03181503713130951, -0.005048075225204229, -0.039711952209472656, 0.010751410387456417, 0.0032392041757702827, 0.9238153100013733, -0.9376667737960815, -0.2335687130689621, 0.9273204207420349, -2.248075246810913, -0.7687188386917114, -0.0785541981458664, 0.01360244955867529, -0.2892572581768036, 0.020503723993897438, -0.12734057009220123, 0.01494305208325386, 0.01164163090288639, -0.16838881373405457, 0.008664453402161598, 0.009398791007697582, 0.007292945869266987, -0.12639395892620087, 0.015085232444107533, 0.006775501649826765, -0.023628661409020424, -0.027426863089203835, 0.013886809349060059, 0.009398791007697582, 0.028255058452486992, -0.05007009953260422, -0.047612786293029785, 0.010695388540625572, 0.0024073428940027952, 0.5619163513183594, -1.1069588661193848, 0.5441796779632568, 0.0, -0.014285196550190449, -0.0001917476038215682, -0.8230765461921692], "max": [1.260834813117981, -0.535188615322113, 2.8522454158519395e-05, 1.6036159992218018, 0.12829460203647614, -0.39574846625328064, 0.5200340747833252, 1.3302350044250488, -0.002469312632456422, 0.27913203835487366, 0.14478731155395508, 0.2294149398803711, 0.6364622712135315, 0.0687326192855835, 0.41976380348205566, 0.5099841952323914, 0.788055419921875, 0.07038506865501404, 0.32916978001594543, 0.3158288598060608, 0.5590727925300598, 0.09870485961437225, 0.3234414756298065, 0.3877648711204529, 0.1984415203332901, 0.08799567073583603, 0.07339579612016678, 0.5782945156097412, 1.297398567199707, 1.2900854349136353, -0.4935206472873688, -0.0005637379363179207, 1.569275975227356, 0.33225005865097046, -0.09800627827644348, 0.6565901637077332, 1.5244756937026978, 0.00743178790435195, 0.30031344294548035, 0.1316758245229721, 0.6179091334342957, 0.7113162279129028, 0.11897397041320801, 0.4363747239112854, 0.5103633403778076, 0.8117152452468872, 0.160898357629776, 0.5825457572937012, 0.375226229429245, 0.8273302316665649, 0.17146970331668854, 0.33978646993637085, 0.4158291220664978, 0.0632961243391037, 0.12518996000289917, 0.13785897195339203, 1.0042387247085571, 1.1383171081542969, 0.5626833438873291, -1.106767177581787, 0.5534794330596924, 0.005656554363667965, 0.0, 0.26269420981407166, -0.5997864603996277], "mean": [1.0295356512069702, -0.7034660577774048, -0.21983860433101654, 1.3600590229034424, -0.6767597794532776, -0.5424220561981201, 0.2970466911792755, 1.1196439266204834, -0.21251948177814484, 0.11963572353124619, 0.07299946993589401, 0.18436342477798462, 0.4394179582595825, -0.0495586134493351, 0.336404949426651, 0.43207108974456787, 0.475002646446228, -0.04455501213669777, 0.2528980076313019, 0.24552537500858307, 0.23388783633708954, 0.03157482296228409, 0.17852461338043213, 0.21343329548835754, 0.08052428066730499, 0.03580454736948013, 0.0029371746350079775, 0.3122106194496155, 0.9207772612571716, 1.144840121269226, -0.7100377678871155, -0.22167980670928955, 1.3149840831756592, -0.6779237389564514, -0.28614792227745056, 0.35322073101997375, 1.213215947151184, -0.11805006861686707, 0.1616368591785431, -0.01257417630404234, 0.3473101854324341, 0.4700061082839966, 0.014647215604782104, 0.29301533102989197, 0.35467755794525146, 0.43891921639442444, 0.048267912119627, 0.43394508957862854, 0.30158910155296326, 0.3493402600288391, 0.09101509302854538, 0.1691497415304184, 0.19531571865081787, 0.03706292435526848, 0.03824335336685181, 0.05831572785973549, 0.4888940751552582, 0.5992136597633362, 0.5621262788772583, -1.1068670749664307, 0.5526021122932434, 0.004826111253350973, -0.012437188066542149, 0.11029458791017532, -0.7650383114814758], "std": [0.08017725497484207, 0.1194571927189827, 0.04406675696372986, 0.1295379251241684, 0.2870136797428131, 0.0699884444475174, 0.12066119909286499, 0.29798489809036255, 0.06300709396600723, 0.08738748729228973, 0.054325126111507416, 0.03532460704445839, 0.1925848424434662, 0.08080510795116425, 0.10750679671764374, 0.13352999091148376, 0.2776491641998291, 0.08882424980401993, 0.09596337378025055, 0.09373868256807327, 0.22375351190567017, 0.05090153589844704, 0.120499387383461, 0.14828896522521973, 0.05927641689777374, 0.03331391513347626, 0.04505271464586258, 0.1857936978340149, 0.44702479243278503, 0.12290538847446442, 0.09044149518013, 0.04143081232905388, 0.18632158637046814, 0.8334503173828125, 0.12949839234352112, 0.25699350237846375, 0.3532203137874603, 0.0748981237411499, 0.07927864789962769, 0.09609910100698471, 0.202250137925148, 0.21764619648456573, 0.0932018831372261, 0.09139744192361832, 0.10781267285346985, 0.3025524914264679, 0.08566554635763168, 0.10515942424535751, 0.06691716611385345, 0.37195882201194763, 0.06160001456737518, 0.14753925800323486, 0.1789085417985916, 0.004832127597182989, 0.04499911144375801, 0.05316685512661934, 0.43351808190345764, 0.39896512031555176, 0.00012144794891355559, 1.6102325389510952e-05, 0.001572550623677671, 0.0009633377194404602, 0.0023170416243374348, 0.07177305966615677, 0.04660066217184067], "count": [618]}, "observation.state.joint_torque": {"min": [-32.40299987792969, -15.173999786376953, -16.48200035095215, -11.545000076293945, -0.06719999760389328, -2.1184000968933105, 1.0088000297546387, -0.7577488422393799, -0.29800543189048767, -0.6374996900558472, -0.7990493774414062, -0.08965382725000381, -0.4595833718776703, -0.7934768795967102, -0.13780125975608826, -0.038529157638549805, -0.4547860622406006, -0.7925174236297607, -0.1411217600107193, -0.015697065740823746, -0.3386908769607544, -0.2964744567871094, -0.10127562284469604, -0.01855107769370079, -0.09895525127649307, -0.3885830044746399, -0.36075854301452637, -0.1759871542453766, -0.20834288001060486, 17.491500854492188, -5.3429999351501465, 5.216000080108643, -8.744999885559082, -1.9767999649047852, -2.025599956512451, -3.0104000568389893, -1.425077199935913, -0.6813371777534485, -0.306944340467453, -0.5815787315368652, -0.16602559387683868, -0.3809072971343994, -0.5919894576072693, -0.151083305478096, -0.04209667816758156, -0.4020155370235443, -0.7704498171806335, -0.12451920658349991, -0.014983562752604485, -0.4260021150112152, -0.9364370703697205, -0.2573396861553192, -0.12200900912284851, -0.1262229084968567, -0.374191015958786, -0.49604299664497375, -0.45657041668891907, -0.2104833722114563, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [-20.066999435424805, 17.5935001373291, -8.9350004196167, 6.275000095367432, 1.972000002861023, 2.015199899673462, 3.0703999996185303, 0.8316135406494141, 1.9701471328735352, 1.060014247894287, 0.771710216999054, 0.09629485011100769, 0.8942207098007202, 0.5919894576072693, 0.11787818372249603, 0.02996712550520897, 0.6533951163291931, 0.4854888916015625, 0.11953844130039215, 0.02354559674859047, 0.31086641550064087, 0.5008403062820435, 0.11953844130039215, 0.02497260272502899, 0.05893334746360779, 0.2868798077106476, 0.2935960590839386, 0.11123716086149216, 0.07777182012796402, 39.907501220703125, 16.471500396728516, 18.025999069213867, 5.478000164031982, 0.8575999736785889, 2.828000068664551, 1.065600037574768, 1.2658864259719849, 2.2095701694488525, 1.1047511100769043, 0.9953944087028503, 0.4316665828227997, 1.2425061464309692, 0.7128819823265076, 0.1759871542453766, 0.039242662489414215, 1.3720338344573975, 0.713841438293457, 0.1776474118232727, 0.022118592634797096, 1.6598732471466064, 0.29935282468795776, 0.41838452219963074, 0.06778278201818466, -0.003518408630043268, 0.49124571681022644, 0.5651244521141052, 0.25235894322395325, 0.0891878679394722, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [-25.29220199584961, 2.417069673538208, -12.570785522460938, -3.9609224796295166, 0.5318760871887207, 0.8713891506195068, 1.9674127101898193, -0.14399102330207825, 0.7317054271697998, 0.38842061161994934, 0.25420233607292175, -0.0029148419853299856, 0.3419994115829468, 0.09579583257436752, 0.030440712347626686, 0.002262891735881567, 0.20369039475917816, 0.0024079696740955114, -0.013773678801953793, 0.0009478742722421885, -0.02352549135684967, 0.008000195026397705, 0.0095639294013381, 0.0038942554965615273, -0.040964074432849884, -0.0642421767115593, -0.022028857842087746, 0.00955048855394125, 0.00949489139020443, 26.11890411376953, 2.502063035964966, 12.895934104919434, -2.6221365928649902, -0.2993164658546448, 0.6198508739471436, -1.3687894344329834, 0.06537648290395737, 0.7367477416992188, 0.426302969455719, 0.04217100143432617, 0.08513239771127701, 0.3965924084186554, 0.04437284171581268, 0.04803192615509033, -0.001759511767886579, 0.3868427574634552, -0.0578085333108902, 0.05960804596543312, 0.011304044164717197, 0.3607276380062103, -0.17595769464969635, 0.06546740233898163, 0.018836265429854393, -0.05140269175171852, -0.024306422099471092, -0.0016922603826969862, -0.008166957646608353, -0.0007954747998155653, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [1.8920588493347168, 2.558563709259033, 1.2667120695114136, 1.2134013175964355, 0.2862931489944458, 0.5516195893287659, 0.4469887912273407, 0.33142757415771484, 0.8116798400878906, 0.5184912085533142, 0.359408974647522, 0.04242624342441559, 0.38359642028808594, 0.2667195200920105, 0.049956563860177994, 0.010060110129415989, 0.2958776354789734, 0.14913038909435272, 0.05109388381242752, 0.008619195781648159, 0.15653873980045319, 0.12856124341487885, 0.05914977937936783, 0.010608666576445103, 0.026042327284812927, 0.19091013073921204, 0.10192403942346573, 0.05748211219906807, 0.01873180828988552, 2.339717388153076, 2.1929075717926025, 2.200576066970825, 1.3065974712371826, 0.474797785282135, 1.1183327436447144, 1.1496397256851196, 0.6085041761398315, 0.8767610788345337, 0.4477328658103943, 0.36814743280410767, 0.14176985621452332, 0.4451442360877991, 0.2302088439464569, 0.048648491501808167, 0.01070716604590416, 0.5022340416908264, 0.29315927624702454, 0.07466844469308853, 0.009650623425841331, 0.5949039459228516, 0.32988440990448, 0.15782056748867035, 0.02876836247742176, 0.0165068581700325, 0.14575980603694916, 0.2688547968864441, 0.06822501122951508, 0.026274144649505615, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [618]}, "observation.state.tcp": {"min": [0.30383825302124023, 0.10850479453802109, 0.8923652768135071, -1.2126563787460327, 1.2177456617355347, -1.3564249277114868, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.34820008277893066, -0.27942144870758057, 0.879271924495697, -1.099004864692688, 1.2013051509857178, 0.4020399749279022, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [0.4092842638492584, 0.25054389238357544, 1.054438591003418, -0.1933177411556244, 1.9235577583312988, -0.811562716960907, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.44619736075401306, -0.10813494771718979, 1.0742677450180054, 1.4115855693817139, 1.8326765298843384, 1.6717740297317505, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "mean": [0.3418310582637787, 0.18095743656158447, 0.9566781520843506, -0.4999423623085022, 1.7406469583511353, -1.0560072660446167, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.3708896040916443, -0.20382872223854065, 0.9990975856781006, 0.4508921205997467, 1.5482566356658936, 1.1102612018585205, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "std": [0.02428678423166275, 0.05002810060977936, 0.043951794505119324, 0.26230332255363464, 0.1711767464876175, 0.11954813450574875, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.02134258672595024, 0.04963444918394089, 0.06245047599077225, 0.8350114226341248, 0.2020789533853531, 0.37226951122283936, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "count": [618]}, "action": {"min": [0.9178957939147949, -0.9305511116981506, -0.2311517298221588, 1.0831822156906128, -0.9740778207778931, -0.7699999809265137, 0.1443859487771988, 0.0, -0.295132577419281, -0.035156574100255966, -0.07785609364509583, 0.0, 0.0, -0.1684267371892929, 0.0, 0.0, 0.0, -0.18188735842704773, 0.0, 0.0, 0.0, -0.10752075165510178, 0.0, 0.0, -9.99999993922529e-09, 0.0, -0.13388186693191528, 0.0, 0.0, 0.9238399267196655, -0.937837541103363, -0.2335485816001892, 0.9271955490112305, -2.248049020767212, -0.7657021880149841, -0.07861651480197906, 0.0, -0.28631895780563354, 0.0, -0.14061926305294037, 0.0, 0.0, -0.1781730204820633, 0.0, 0.0, 0.0, -0.13120263814926147, 0.0, 0.0, 0.0, -0.058805450797080994, 0.0, 0.0, -9.962723090950476e-09, 0.0, -0.05601692199707031, 0.0, 0.0, 0.5621080994606018, -1.1068999767303467, 0.5442000031471252, 1.0070204698441103e-19, -0.014775943011045456, -2.4891124014203215e-18, -0.8230614066123962], "max": [1.2608363628387451, -0.5352634191513062, 7.51856884229459e-18, 1.6039687395095825, 0.12827914953231812, -0.39500007033348083, 0.5199999809265137, 1.3489140272140503, 0.0, 0.32000264525413513, 0.1461760401725769, 0.26289987564086914, 0.7338021397590637, 0.0949481725692749, 0.4423387348651886, 0.5256852507591248, 0.8589868545532227, 0.0779152438044548, 0.34781429171562195, 0.3316369652748108, 0.5659213066101074, 0.11567573994398117, 0.34813591837882996, 0.40353187918663025, 0.22713913023471832, 0.08642943203449249, 0.07740958780050278, 0.6501654386520386, 1.394827127456665, 1.2900779247283936, -0.493462473154068, -0.0015085384948179126, 1.569422960281372, 0.3333311378955841, -0.09779127687215805, 0.6569272875785828, 1.5770599842071533, 0.09641706943511963, 0.28686773777008057, 0.1370953917503357, 0.6829922199249268, 0.8010109066963196, 0.133664071559906, 0.4808806777000427, 0.5261206030845642, 0.9239896535873413, 0.15732342004776, 0.601386547088623, 0.3875671923160553, 1.0197242498397827, 0.15822431445121765, 0.4446240961551666, 0.44675877690315247, 0.03546454384922981, 0.1160598173737526, 0.14414921402931213, 1.0168582201004028, 1.157180666923523, 0.5626999735832214, -1.106863021850586, 0.5536640286445618, 0.00582013837993145, 1.6725781009516885e-20, 0.26279473304748535, -0.6000000238418579], "mean": [1.0296539068222046, -0.7036001086235046, -0.21984566748142242, 1.3602522611618042, -0.677291989326477, -0.5425241589546204, 0.29727163910865784, 1.1095526218414307, -0.17540110647678375, 0.1695009022951126, 0.08281026035547256, 0.18353860080242157, 0.4818844497203827, -0.04427072033286095, 0.3402828276157379, 0.4291096329689026, 0.4946349859237671, -0.04301195219159126, 0.24742209911346436, 0.24452565610408783, 0.23192405700683594, 0.021410256624221802, 0.1802636981010437, 0.2170538604259491, 0.0558299757540226, 0.030506398528814316, -0.012665696442127228, 0.31427446007728577, 0.9442102313041687, 1.1455097198486328, -0.7107154130935669, -0.22169899940490723, 1.3150815963745117, -0.6716618537902832, -0.28598758578300476, 0.35345807671546936, 1.213531494140625, -0.07947981357574463, 0.21403935551643372, -0.01123973447829485, 0.3682979941368103, 0.5280972719192505, 0.017402619123458862, 0.3042926788330078, 0.3513334393501282, 0.5000655055046082, 0.04588010162115097, 0.4486789107322693, 0.31268975138664246, 0.412136048078537, 0.08125890046358109, 0.1856730878353119, 0.21441909670829773, 0.002140116412192583, 0.0367632731795311, 0.05699234828352928, 0.485567569732666, 0.5925596952438354, 0.5621327757835388, -1.1068681478500366, 0.5526472926139832, 0.004867603071033955, -0.012475479394197464, 0.1103358194231987, -0.7650455236434937], "std": [0.08055777102708817, 0.11949895322322845, 0.04425991326570511, 0.1295776069164276, 0.28631919622421265, 0.07049375027418137, 0.12080061435699463, 0.3122255504131317, 0.09320008009672165, 0.1392175257205963, 0.059830110520124435, 0.04703768342733383, 0.2408083826303482, 0.09025703370571136, 0.12545813620090485, 0.1505148559808731, 0.31028133630752563, 0.09179730713367462, 0.10512446612119675, 0.10126537084579468, 0.22316858172416687, 0.07164459675550461, 0.12755921483039856, 0.15553061664104462, 0.07117839902639389, 0.029051508754491806, 0.06409341096878052, 0.20275889337062836, 0.5028276443481445, 0.12277034670114517, 0.09092777967453003, 0.041507165879011154, 0.18613211810588837, 0.8299186825752258, 0.1303352564573288, 0.25693100690841675, 0.37420374155044556, 0.10616722702980042, 0.06420207768678665, 0.09844034165143967, 0.22942033410072327, 0.27208712697029114, 0.09762945026159286, 0.10532516241073608, 0.11502436548471451, 0.36976680159568787, 0.08509660512208939, 0.12217965722084045, 0.07870715856552124, 0.44670769572257996, 0.056718744337558746, 0.1761622428894043, 0.20039792358875275, 0.006910613738000393, 0.04122434929013252, 0.05928248167037964, 0.43879565596580505, 0.4090175926685333, 0.00011099737457698211, 7.4431009124964476e-06, 0.0016383539186790586, 0.001002970733679831, 0.0024359473027288914, 0.07188140600919724, 0.0469360388815403], "count": [618]}, "observation.state.tcp_pose": {"min": [0.30383825302124023, 0.10850479453802109, 0.8923652768135071, -1.2126563787460327, 1.2177456617355347, -1.3564249277114868, 0.34820008277893066, -0.27942144870758057, 0.879271924495697, -1.099004864692688, 1.2013051509857178, 0.4020399749279022], "max": [0.4092842638492584, 0.25054389238357544, 1.054438591003418, -0.1933177411556244, 1.9235577583312988, -0.811562716960907, 0.44619736075401306, -0.10813494771718979, 1.0742677450180054, 1.4115855693817139, 1.8326765298843384, 1.6717740297317505], "mean": [0.3418310582637787, 0.18095743656158447, 0.9566781520843506, -0.4999423623085022, 1.7406469583511353, -1.0560072660446167, 0.3708896040916443, -0.20382872223854065, 0.9990975856781006, 0.4508921205997467, 1.5482566356658936, 1.1102612018585205], "std": [0.02428678423166275, 0.05002810060977936, 0.043951794505119324, 0.26230332255363464, 0.1711767464876175, 0.11954813450574875, 0.02134258672595024, 0.04963444918394089, 0.06245047599077225, 0.8350114226341248, 0.2020789533853531, 0.37226951122283936], "count": [618]}, "action.tcp_pose": {"min": [0.3037451207637787, 0.10851405560970306, 0.8922272324562073, -1.208855390548706, 1.2178406715393066, -1.3565305471420288, 0.3483300507068634, -0.2825596332550049, 0.8792352080345154, -1.0990643501281738, 1.2006540298461914, 0.4017496407032013], "max": [0.40908995270729065, 0.25063589215278625, 1.0550209283828735, -0.1925964653491974, 1.9237169027328491, -0.8089577555656433, 0.446113258600235, -0.10808230936527252, 1.0739911794662476, 1.412434458732605, 1.832995891571045, 1.6722465753555298], "mean": [0.34182924032211304, 0.18092963099479675, 0.9567676782608032, -0.49911612272262573, 1.740535855293274, -1.0562514066696167, 0.3711548149585724, -0.20436057448387146, 0.999344527721405, 0.45712414383888245, 1.548589825630188, 1.111775279045105], "std": [0.02434532158076763, 0.05004476383328438, 0.04411875829100609, 0.2615281641483307, 0.1712321788072586, 0.11938905715942383, 0.021624432876706123, 0.049836013466119766, 0.062373921275138855, 0.8315403461456299, 0.20229245722293854, 0.3704700171947479], "count": [618]}, "subtask_index": {"min": [0], "max": [4], "mean": [1.8203883495145632], "std": [1.3347866918032543], "count": [618]}, "observation.tactile": {"min": [-0.027144024148583412, -3.803737854468636e-05, -8.782889926806092e-05, -0.0015266832197085023, -0.00021802725677844137, -0.00048769739805720747, -0.016263898462057114, -4.5116797991795465e-05, -0.00010173390182899311, -0.001188379479572177, -0.00012549789971671999, -0.00026021082885563374, -0.016241665929555893, -3.633114829426631e-05, -7.86708842497319e-05, -0.0015685399994254112, -1.4630966688855551e-05, -0.00034710217732936144, -0.01085295993834734, -3.759769970201887e-05, -8.494258509017527e-05, -0.000714091002009809, -9.914342081174254e-05, -0.00022090580023359507, -0.7163890600204468, -3.6940433346899226e-05, -8.267848170362413e-05, -0.01824408397078514, -0.0011114819208160043, -0.01333651039749384, -0.005479151848703623, -3.562799611245282e-05, -8.100525883492082e-05, -0.1937178373336792, -3.172853757860139e-05, -0.012837693095207214, -0.00922032818198204, -3.319675670354627e-05, -7.358841685345396e-05, -0.0011832861928269267, -5.676472210325301e-05, -0.00021627642854582518, -1.4296975135803223, -4.400118632474914e-05, -0.00010092733282363042, -0.026850741356611252, -0.005350559018552303, -0.015190917067229748, -1.7973027229309082, -4.571372119244188e-05, -0.00010362612374592572, -0.038676753640174866, -0.0017520553665235639, -0.019024403765797615, -1.496161937713623, -0.14843526482582092, -1.3652178049087524, -0.0699087381362915, -0.006513989996165037, -0.022399550303816795], "max": [0.04064641147851944, 0.03226462006568909, 0.09289711713790894, 1.6123453860927839e-06, 0.00042147107888013124, 0.0006686031119897962, 0.0020054662600159645, 0.016466796398162842, 0.05046892166137695, 1.8809191715263296e-06, 0.00010736781405285001, 7.660446499357931e-06, 0.0002772852312773466, 0.02601560764014721, 0.07798507809638977, 1.4426741472561844e-06, 0.00010105881665367633, 5.754925041401293e-06, 0.0002911366755142808, 0.010918072424829006, 0.0342593714594841, 1.5586740573780844e-06, 6.41382866888307e-05, 6.017077794240322e-06, 0.0002964269369840622, 1.5683403015136719, 0.8839401602745056, 1.5360996030722163e-06, 0.0008106114692054689, 6.250391379580833e-06, 5.03891134262085, 8.181113243103027, 17.601699829101562, 1.5546204394922825e-06, 0.067304328083992, 0.049382857978343964, 0.01926339790225029, 0.018621910363435745, 0.055082015693187714, 1.355900167254731e-06, 0.00020576955284923315, 0.0003793918585870415, 0.7470336556434631, 0.7654582858085632, 2.8826401233673096, 1.8378226513959817e-06, 0.004802167881280184, 0.007940016686916351, 0.03868960961699486, 1.4807499647140503, 3.9941656589508057, 1.914877884701127e-06, 0.005576075054705143, 0.0005879141972400248, 3.9540765285491943, 1.6599838733673096, 3.664280414581299, 0.028774289414286613, 0.010200265794992447, 0.07621996849775314], "mean": [-0.0006420681020244956, 0.0028843667823821306, 0.008671288378536701, -0.00014646882482338697, 3.988418484368594e-06, -1.2798260286217555e-05, -0.0004120894882362336, 0.0010161810787394643, 0.003065623575821519, -6.586672679986805e-05, -4.1484263419988565e-06, -7.671569619560614e-06, -0.0022009084932506084, 0.004333751276135445, 0.01258319616317749, -0.0002572875819168985, 1.2512209650594741e-05, -4.8908379540080205e-05, -0.00015973576228134334, 0.00041664548916742206, 0.0012353014899417758, -2.359249265282415e-05, -2.4841453978297068e-06, -2.271074436066556e-06, -0.00943855382502079, 0.015934612601995468, 0.013672219589352608, -0.00025825275224633515, -1.890104431367945e-05, -0.00012397629325278103, 0.7492132186889648, 1.7254064083099365, 4.132933616638184, -0.045158736407756805, 0.016396457329392433, 0.0018892050720751286, 0.0005897870869375765, 0.0028482794295996428, 0.00852634571492672, -0.0001517055934527889, 2.8664511773968115e-05, 1.529421410850773e-06, -0.11434853821992874, 0.1627323031425476, 0.6305021047592163, -0.005756325554102659, -5.1676182920346037e-05, -0.0010471891146153212, -0.3511909544467926, 0.2636834681034088, 0.8731689453125, -0.008528243750333786, 0.0008613025420345366, -0.0037111116107553244, 0.037919458001852036, 0.07932104170322418, 0.08372771739959717, -0.001438260660506785, -0.00011970616469625384, 0.0010709038469940424], "std": [0.005555426701903343, 0.0050653270445764065, 0.015117531642317772, 0.00026556465309113264, 7.045928941806778e-05, 9.16282951948233e-05, 0.0016217740485444665, 0.0021753443870693445, 0.006471923552453518, 0.0001434247533325106, 1.6793241229606792e-05, 2.9690409064642154e-05, 0.0034801983274519444, 0.006456730887293816, 0.018697485327720642, 0.00038234316161833704, 2.097258584399242e-05, 7.619924144819379e-05, 0.0013657805975526571, 0.0014458774821832776, 0.004272137768566608, 8.39855638332665e-05, 7.799761988280807e-06, 2.5778419512789696e-05, 0.06950009614229202, 0.12407806515693665, 0.07526970654726028, 0.001556343398988247, 9.50313697103411e-05, 0.000992356799542904, 1.2191665172576904, 2.6876561641693115, 6.087695121765137, 0.06632359325885773, 0.024166902527213097, 0.008514845743775368, 0.0026834181044250727, 0.0036755017936229706, 0.011141125112771988, 0.00021521553571801633, 4.18596355302725e-05, 4.492305015446618e-05, 0.3629102110862732, 0.20751141011714935, 0.8327920436859131, 0.007701639551669359, 0.001686970703303814, 0.0038196207024157047, 0.5769674181938171, 0.44891270995140076, 1.4182145595550537, 0.013802078552544117, 0.0015948490472510457, 0.006127445958554745, 0.5700092315673828, 0.24476420879364014, 0.3905544579029083, 0.007621535565704107, 0.001364103052765131, 0.01120628509670496], "count": [618]}, "timestamp": {"min": [0.0], "max": [20.566666666666666], "mean": [10.283333333333333], "std": [5.946699987450244], "count": [618]}, "frame_index": {"min": [0], "max": [617], "mean": [308.5], "std": [178.40099962350735], "count": [618]}, "episode_index": {"min": [23], "max": [23], "mean": [23.0], "std": [0.0], "count": [618]}, "index": {"min": [15488], "max": [16105], "mean": [15796.5], "std": [178.40099962350735], "count": [618]}, "task_index": {"min": [0], "max": [0], "mean": [0.0], "std": [0.0], "count": [618]}, "observation.images.head_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5334714651107788]], [[0.5327901244163513]], [[0.5348537564277649]]], "std": [[[0.28414255380630493]], [[0.28431278467178345]], [[0.28524377942085266]]], "count": [618]}, "observation.images.wrist_left": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2195630967617035]], [[0.218826562166214]], [[0.21464838087558746]]], "std": [[[0.14833702147006989]], [[0.14845474064350128]], [[0.15010075271129608]]], "count": [618]}, "observation.images.wrist_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.2970372140407562]], [[0.299039363861084]], [[0.2992144823074341]]], "std": [[[0.16820158064365387]], [[0.17087914049625397]], [[0.17070269584655762]]], "count": [618]}, "observation.images.head_right": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5338179469108582]], [[0.5334061980247498]], [[0.5351857542991638]]], "std": [[[0.28765568137168884]], [[0.2877694070339203]], [[0.28864380717277527]]], "count": [618]}, "observation.images.tactile_deform": {"min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.5490196347236633]], [[0.5490196347236633]], [[0.5490196347236633]]], "mean": [[[0.0010518835624679923]], [[0.0010518835624679923]], [[0.0010518835624679923]]], "std": [[[0.0183973740786314]], [[0.0183973740786314]], [[0.0183973740786314]]], "count": [618]}, "observation.images.tactile_raw": {"min": [[[0.07450980693101883]], [[0.07450980693101883]], [[0.07450980693101883]]], "max": [[[1.0]], [[1.0]], [[1.0]]], "mean": [[[0.5084945559501648]], [[0.5084945559501648]], [[0.5084945559501648]]], "std": [[[0.2362518310546875]], [[0.2362518310546875]], [[0.2362518310546875]]], "count": [618]}}}
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/info.json b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..59fade054306746dcb4cf355cff538290319a75e
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "robot",
+    "total_episodes": 24,
+    "total_frames": 16106,
+    "total_tasks": 1,
+    "total_videos": 144,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 30,
+    "splits": {
+        "train": "0:24"
+    },
+    "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/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/modality.json b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_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/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/subtasks.jsonl b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2d15b23bc7924cd2a69c009bff74d1c8ab55b57b
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,5 @@
+{"subtask_index": 0, "subtask": "Pick up the empty cup on the left with the right hand | Skill: pick"}
+{"subtask_index": 1, "subtask": "Pick up the cup containing pills on the right with the left hand | Skill: pick"}
+{"subtask_index": 2, "subtask": "Pour the pills from the right cup into the left cup | Skill: pour"}
+{"subtask_index": 3, "subtask": "Place both cups back on the table in an upright position | Skill: place"}
+{"subtask_index": 4, "subtask": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."}
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/tasks.jsonl b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..92a441d44f92a32f0f135e376780d30cfbf3133d
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Task: Pour pills from right cup to left cup | Instruction: Pick up the empty cup on the left, then pick up the cup containing pills on the right, pour the pills from the right cup into the left cup, and finally place both cups back on the table in a stable upright position. | Scene: A domestic tabletop scene with two identical transparent plastic cups placed side by side. The left cup is empty and the right cup contains 3-5 pills. | Success: All pills from the right cup are transferred to the left cup, and both cups are placed back on the table in a stable upright position without any pills spilled on the table."}
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/v40_validation.json b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..30b8f786c621b3e02f9357dc3b428beb042a485a
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 24,
+  "frames": 16106,
+  "video_frames": {
+    "observation.images.head_left": 16106,
+    "observation.images.wrist_left": 16106,
+    "observation.images.wrist_right": 16106,
+    "observation.images.head_right": 16106,
+    "observation.images.tactile_deform": 16106,
+    "observation.images.tactile_raw": 16106
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 24
+}
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4 b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a844d5d3df91b18848ea1b711be16a8dc9da0a3f
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_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:e77eff3c60719fcc511ab658e150aa42f86cebd541ee09ffe14b0a41a10039f4
+size 13472201
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4 b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1bf33b7c0b955b4e454a07d9d9ae8e1a20ee07a5
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_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:ac3de50edefddb9f443ccb86058e6aa672ab5ac0a4972a1af7b224257f79a909
+size 12469276
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000002.mp4 b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bdae70af6e94f911c1d09c0c4c0a3921be38d568
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_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 sha256:1dd2ae71286504f344845eee40bf41b747bdf3fc4fa5c4b1da473dbc41036c5e
+size 13703835
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000003.mp4 b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..469cd7f33ab60b440573276c4f09546f9383bc0e
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_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:a1ee79e3db042da959739f367a538554a17f07d2b4abfeb0f68f2f68121bcc79
+size 12954212
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000004.mp4 b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6d5a58db799e27b91e0dc0f8d836c416215eb337
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_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 sha256:69bb5e86ea4aca308da251a77f24741b9d1fb18574710056388dbd09c393233b
+size 13604257
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000005.mp4 b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..53aa71a3496cfa259ded419ad174d78aeb0cf0d5
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_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 sha256:255fe1d8ea862f2fccacb67a166aa34038cc21bc9f9ba917227eaa78205fa120
+size 12516754
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000006.mp4 b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ff40d992de1358126d7c54b8cf779e8b86f11e10
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_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 sha256:557a35fd88de463321df85db221d4fa1243fa1ba10f5d7f034abf3f9150569e8
+size 13504416
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000007.mp4 b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1be84ed8a65168f2d5ec4bb457a4d59cbc3eac37
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_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:a0b1f5e7d73e53d43df49770a9369845b7b999f30c313447abbf3993b724e7cc
+size 11672734
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000008.mp4 b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000008.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4b03ec2a983a4b2acc6f580e1a5cd6e172362d78
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_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 sha256:139b45d886c52be9a84d261c359cfdcbab0edd27e183e8fae4964c6bc046c8ed
+size 13142235
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000009.mp4 b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e53e7176322c18e020b255806b7cac85d4f093ff
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_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 sha256:6e9be3329b8aa96ae493d0e5691c6a645e48b81efc9b25ef98425f48cdfc6dbb
+size 13112915
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000010.mp4 b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2bc41d03796242896c15e1d7216641641690c91a
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_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 sha256:232ced950bbfa98f2e39b946d00b3670077c91f7cff3596475a9be51287f10e2
+size 13395512
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000011.mp4 b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000011.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6d3b89385f5093ca1408d0900279105746a2ba47
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_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 sha256:982d0530bd1f4696266a478b7b5d4084c8ce1b21472e1114ee7ca48c32fcc81b
+size 11603688
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000012.mp4 b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7ac4e2b4869079b44c5aff037583578489c1531e
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_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 sha256:1e7341c369f72468634b05fa973933fe0ff8d4b7098ec49d7dd29ed26f11a868
+size 11468742
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000013.mp4 b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000013.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5a1ee4a94aae2114dbfaf11a3917eccd6eaf271b
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_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 sha256:645fc3a43d185bc1cb78b05d534ba7b8b152c3f92977b9d5a5bdedf1845adff2
+size 12834512
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000014.mp4 b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0f5330d648e34c8de09a8618fcf3593e3fb6eea6
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_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 sha256:6e35fc1f7ab7a9a93fd85affc3d43c98e50acd07cd1458ebb602b6b14d5353bd
+size 11541021
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000015.mp4 b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..148afbb3434bcc83e02cccd211fd3c03e6655031
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_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 sha256:207d4e439e5c067ce544933cef643e540d045667e88bd0ad1d9b395f7314a77e
+size 13916334
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000016.mp4 b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b8b2ac323f89081c65e3acc80b57995ba7cc60b0
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_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 sha256:2943e24ca0a4d1c74f716e8579136d646e5a4e869b883b8e6593092f78956ade
+size 13377003
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000017.mp4 b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000017.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..80554336a18007ce31ce47f88557d2c8661d9da2
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_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:a0cc07dad75bc3e5c5af6be77ad6e1e7a5c8d275fc8ceb63b5bc17baa8e9970f
+size 11772838
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000018.mp4 b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5c3b53f482aa29032c6282aec6e3864c10e397ea
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_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 sha256:993c40ea7f0ac1fdda498384e82179b25ece608f684762f9d4d4a54d79b65582
+size 10582595
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000019.mp4 b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1c0feea24fc497f0c5c2d044616cd107233b3d05
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_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 sha256:9f20454bf7045be1069574d33e83556be5552c2a31565ffdf1c591437700ea41
+size 11930371
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000020.mp4 b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b75c341554959a8585d45762eaf809c9f6676f9a
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_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 sha256:1519e1bff8e5bf4d82daa6d314df5d200d5de6b52daa68bebee78f2557c42187
+size 12569741
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000021.mp4 b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000021.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1c1ae7d7ec9ffa81c2016fdf53b0d5e55dd8339f
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_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 sha256:9f38ba10d38e1e9f7922e16e8980a4f83a3eaf647ade78e31de71c98d2406548
+size 12303111
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000022.mp4 b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..be54db2c7caab88a8d838562c5f394043d00ecd7
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_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:f489cbf835e60a66271bfbff314d6cb537b958104cf201335e0558dfc6402aa3
+size 11444089
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000023.mp4 b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_left/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2ceca446e687d33b4a4fdff1c08fd9c2fc318d73
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_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 sha256:7a244fb3f86989ea6f99049be8899441ad23b0fb509d5bd3181c34961ee56150
+size 11891226
diff --git a/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000000.mp4 b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_train/lerobot_v2.1/videos/chunk-000/observation.images.head_right/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..934233e6c50c9a63f92043e01727e1f6b892d52f
--- /dev/null
+++ b/transfer_pills_between_cups/season_POC22050_2026_06_03_15_02_33_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 sha256:1dffff5ede38600daca549c0f7c6551c9e4b3da4a324e41362491403bb3896da
+size 13932190