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"start_step": 838, "end_step": 987, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 988, "end_step": 1065, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1066, "end_step": 1215, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1216, "end_step": 1287, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1288, "end_step": 1413, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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"atomic_action": []}, {"label": "subtasks", "start_step": 406, "end_step": 565, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 566, "end_step": 640, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 641, "end_step": 800, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 801, "end_step": 870, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 1020, "id": "subtask-008", "text": "Pick up the fourth 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"subtasks", "start_step": 1726, "end_step": 1805, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1806, "end_step": 2120, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 2121, "end_step": 2195, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2196, "end_step": 3125, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 185, "id": "subtask-001", "text": "Open 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"start_step": 641, "end_step": 800, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 801, "end_step": 870, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 871, "end_step": 1020, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1021, "end_step": 1100, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1101, "end_step": 1270, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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2195, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2196, "end_step": 3125, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 550, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 551, "end_step": 620, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 621, "end_step": 800, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 801, "end_step": 855, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 856, "end_step": 1015, "id": "subtask-008", "text": "Pick up the fourth 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"subtasks", "start_step": 1456, "end_step": 1520, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1521, "end_step": 1645, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1646, "end_step": 1715, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1716, "end_step": 3525, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 120, "id": "subtask-001", "text": "Open 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"start_step": 621, "end_step": 800, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 801, "end_step": 855, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 856, "end_step": 1015, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1016, "end_step": 1075, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1076, "end_step": 1230, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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"start_step": 632, "end_step": 816, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 901, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 902, "end_step": 1076, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1077, "end_step": 1151, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1152, "end_step": 1366, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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"atomic_action": []}, {"label": "subtasks", "start_step": 731, "end_step": 900, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 1005, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1006, "end_step": 1265, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1266, "end_step": 1345, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1346, "end_step": 1480, "id": "subtask-008", "text": "Pick up the 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"subtasks", "start_step": 1916, "end_step": 1960, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1961, "end_step": 2120, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 2121, "end_step": 2190, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2191, "end_step": 3080, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 185, "id": "subtask-001", "text": "Open 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"start_step": 1006, "end_step": 1265, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1266, "end_step": 1345, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1346, "end_step": 1480, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1481, "end_step": 1555, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1556, "end_step": 1700, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the 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"end_step": 2190, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2191, "end_step": 3080, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"atomic_action": []}, {"label": "subtasks", "start_step": 416, "end_step": 630, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 631, "end_step": 700, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 701, "end_step": 1150, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1151, "end_step": 1215, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1216, "end_step": 1385, "id": "subtask-008", "text": "Pick up the 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"subtasks", "start_step": 1926, "end_step": 1965, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1966, "end_step": 2120, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 2121, "end_step": 2190, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2191, "end_step": 2895, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 190, "id": "subtask-001", "text": "Open 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"start_step": 701, "end_step": 1150, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1151, "end_step": 1215, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1216, "end_step": 1385, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1386, "end_step": 1445, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1446, "end_step": 1610, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the 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"end_step": 2190, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2191, "end_step": 2895, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"start_step": 836, "end_step": 1005, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1006, "end_step": 1075, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1076, "end_step": 1245, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1246, "end_step": 1315, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1316, "end_step": 1525, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the 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"end_step": 2180, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2181, "end_step": 3265, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"atomic_action": []}, {"label": "subtasks", "start_step": 361, "end_step": 625, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 626, "end_step": 695, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 696, "end_step": 845, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 846, "end_step": 915, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1035, "id": "subtask-008", "text": "Pick up the fourth 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"subtasks", "start_step": 1421, "end_step": 1480, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1481, "end_step": 1625, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1626, "end_step": 1690, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1691, "end_step": 3945, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 140, "id": "subtask-001", "text": "Open 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"start_step": 696, "end_step": 845, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 846, "end_step": 915, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1035, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1100, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1101, "end_step": 1220, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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1690, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1691, "end_step": 3945, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"atomic_action": []}, {"label": "subtasks", "start_step": 496, "end_step": 655, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 656, "end_step": 715, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 716, "end_step": 885, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 955, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 956, "end_step": 1260, "id": "subtask-008", "text": "Pick up the fourth 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"subtasks", "start_step": 1816, "end_step": 1865, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1866, "end_step": 2015, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 2016, "end_step": 2070, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2071, "end_step": 2915, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 235, "id": "subtask-001", "text": "Open 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"start_step": 716, "end_step": 885, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 955, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 956, "end_step": 1260, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1261, "end_step": 1325, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1326, "end_step": 1580, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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561, "end_step": 705, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 765, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 900, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 965, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 966, "end_step": 1100, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left hand. | Skill: 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"subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1566, "end_step": 2420, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"subtasks", "start_step": 1536, "end_step": 1605, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1606, "end_step": 1750, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1751, "end_step": 1805, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1806, "end_step": 2605, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 185, "id": "subtask-001", "text": "Open 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"start_step": 546, "end_step": 680, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 681, "end_step": 745, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 746, "end_step": 1110, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1111, "end_step": 1190, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1191, "end_step": 1340, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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"atomic_action": []}, {"label": "subtasks", "start_step": 401, "end_step": 565, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 566, "end_step": 645, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 646, "end_step": 780, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 850, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 851, "end_step": 1005, "id": "subtask-008", "text": "Pick up the fourth 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"subtasks", "start_step": 1446, "end_step": 1505, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1506, "end_step": 1630, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1631, "end_step": 1695, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1696, "end_step": 3325, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 155, "id": "subtask-001", "text": "Open 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"start_step": 646, "end_step": 780, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 850, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 851, "end_step": 1005, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1006, "end_step": 1070, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1071, "end_step": 1235, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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1695, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1696, "end_step": 3325, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"atomic_action": []}, {"label": "subtasks", "start_step": 526, "end_step": 840, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 900, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 1060, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1061, "end_step": 1120, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1121, "end_step": 1250, "id": "subtask-008", "text": "Pick up the 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"subtasks", "start_step": 1686, "end_step": 1755, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1756, "end_step": 1900, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1901, "end_step": 1965, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1966, "end_step": 2885, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 285, "id": "subtask-001", "text": "Open 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"start_step": 901, "end_step": 1060, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1061, "end_step": 1120, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1121, "end_step": 1250, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1251, "end_step": 1315, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1316, "end_step": 1470, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the 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"end_step": 1965, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1966, "end_step": 2885, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"start_step": 661, "end_step": 790, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 791, "end_step": 860, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 861, "end_step": 1000, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1001, "end_step": 1055, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1056, "end_step": 1180, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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"atomic_action": []}, {"label": "subtasks", "start_step": 386, "end_step": 555, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 556, "end_step": 620, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 621, "end_step": 760, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 835, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 836, "end_step": 1005, "id": "subtask-008", "text": "Pick up the fourth 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"subtasks", "start_step": 1441, "end_step": 1495, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1496, "end_step": 1655, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1656, "end_step": 1710, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1711, "end_step": 2520, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 170, "id": "subtask-001", "text": "Open 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"start_step": 621, "end_step": 760, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 835, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 836, "end_step": 1005, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1006, "end_step": 1065, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1066, "end_step": 1220, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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1710, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1711, "end_step": 2520, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"atomic_action": []}, {"label": "subtasks", "start_step": 476, "end_step": 690, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 760, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 761, "end_step": 930, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 1040, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1041, "end_step": 1255, "id": "subtask-008", "text": "Pick up the 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"subtasks", "start_step": 1881, "end_step": 1950, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1951, "end_step": 2105, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 2106, "end_step": 2170, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2171, "end_step": 3380, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 245, "id": "subtask-001", "text": "Open 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"start_step": 761, "end_step": 930, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 1040, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1041, "end_step": 1255, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1256, "end_step": 1410, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1411, "end_step": 1585, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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2170, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2171, "end_step": 3380, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"start_step": 581, "end_step": 730, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 731, "end_step": 795, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 970, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 971, "end_step": 1035, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1165, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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"atomic_action": []}, {"label": "subtasks", "start_step": 416, "end_step": 595, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 596, "end_step": 655, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 656, "end_step": 810, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 875, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 876, "end_step": 1075, "id": "subtask-008", "text": "Pick up the fourth 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"subtasks", "start_step": 1581, "end_step": 1650, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1651, "end_step": 1820, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1821, "end_step": 1910, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1911, "end_step": 3885, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 205, "id": "subtask-001", "text": "Open 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"start_step": 656, "end_step": 810, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 875, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 876, "end_step": 1075, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1076, "end_step": 1135, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1136, "end_step": 1345, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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1910, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1911, "end_step": 3885, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"atomic_action": []}, {"label": "subtasks", "start_step": 411, "end_step": 590, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 591, "end_step": 670, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 671, "end_step": 850, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 851, "end_step": 915, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1070, "id": "subtask-008", "text": "Pick up the fourth 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"subtasks", "start_step": 1596, "end_step": 1650, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1651, "end_step": 1840, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1841, "end_step": 1895, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1896, "end_step": 3210, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Open 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"start_step": 671, "end_step": 850, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 851, "end_step": 915, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1070, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1071, "end_step": 1135, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1136, "end_step": 1350, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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1895, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1896, "end_step": 3210, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"start_step": 581, "end_step": 750, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 815, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 816, "end_step": 1010, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1011, "end_step": 1070, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1071, "end_step": 1235, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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1705, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1706, "end_step": 2665, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up the first blueberry with the left hand and place it into the bag. Repeat the pick-and-place process for the remaining six blueberries. Finally, pinch the opening of the bag with both hands and close the bag. | Scene: A fruit storage bag and seven blueberries are placed on the table. The robot needs to open the bag with the right hand, place the seven blueberries into the bag one by one with the left hand, and close the bag with both hands. | Success: All seven blueberries are placed inside the fruit storage bag without being dropped or damaged, and the bag is completely closed at the end of the task.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/pack_blueberries_in_bag/season_POC22065_2026_06_17_14_31_57_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 42, "v40_language_source": "previous_published_lerobot", "episode_index": 42}
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"atomic_action": []}, {"label": "subtasks", "start_step": 366, "end_step": 525, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 526, "end_step": 595, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 596, "end_step": 770, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 771, "end_step": 835, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 836, "end_step": 1010, "id": "subtask-008", "text": "Pick up the fourth 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"subtasks", "start_step": 1446, "end_step": 1510, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1511, "end_step": 1680, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1681, "end_step": 1745, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1746, "end_step": 2565, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 160, "id": "subtask-001", "text": "Open 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"start_step": 596, "end_step": 770, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 771, "end_step": 835, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 836, "end_step": 1010, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1011, "end_step": 1080, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1235, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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1745, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1746, "end_step": 2565, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"atomic_action": []}, {"label": "subtasks", "start_step": 401, "end_step": 540, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 600, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 601, "end_step": 780, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 840, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 975, "id": "subtask-008", "text": "Pick up the fourth 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"start_step": 601, "end_step": 780, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 840, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 975, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 976, "end_step": 1040, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1041, "end_step": 1190, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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"subtasks", "start_step": 1481, "end_step": 1540, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1541, "end_step": 1675, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1676, "end_step": 1740, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1741, "end_step": 2760, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 200, "id": "subtask-001", "text": "Open 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"start_step": 701, "end_step": 840, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 900, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 1060, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1061, "end_step": 1120, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1121, "end_step": 1270, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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1740, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1741, "end_step": 2760, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. Pick up the first blueberry with the left hand and place it into the bag. Repeat the pick-and-place process for the remaining six blueberries. Finally, pinch the opening of the bag with both hands and close the bag. | Scene: A fruit storage bag and seven blueberries are placed on the table. The robot needs to open the bag with the right hand, place the seven blueberries into the bag one by one with the left hand, and close the bag with both hands. | Success: All seven blueberries are placed inside the fruit storage bag without being dropped or damaged, and the bag is completely closed at the end of the task.", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/pack_blueberries_in_bag/season_POC22065_2026_06_17_14_31_57_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 47, "v40_language_source": "previous_published_lerobot", "episode_index": 47}
+{"source_uid": "4cbe7469beb82638", "num_frames": 3415, "episode_id": "POC22065_2026_06_17_17_48_17_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pack_Blueberries/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pack_Blueberries/season_POC22065_2026_06_17_14_31_57_train/POC22065_2026_06_17_17_48_17_train", "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Pack_Blueberries/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pack_Blueberries/season_POC22065_2026_06_17_14_31_57_train/POC22065_2026_06_17_17_48_17_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pack_Blueberries/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pack_Blueberries/season_POC22065_2026_06_17_14_31_57_train/POC22065_2026_06_17_17_48_17_train/train_0.3.0@2026_06_17_17_48_17.hdf5", "tags": {"task_name": "Pack_Blueberries", "task_instruction": "Open the fruit storage bag with the right hand. Pick up the first blueberry with the left hand and place it into the bag. Repeat the pick-and-place process for the remaining six blueberries. Finally, pinch the opening of the bag with both hands and close the bag.", "scene_description": "A fruit storage bag and seven blueberries are placed on the table. The robot needs to open the bag with the right hand, place the seven blueberries into the bag one by one with the left hand, and close the bag with both hands.", "success_criteria": "All seven blueberries are placed inside the fruit storage bag without being dropped or damaged, and the bag is completely closed at the end of the task.", "score": "S", "SOP": "V1.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 195, "id": "subtask-001", "text": "Open the fruit storage bag with the right hand. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 196, "end_step": 380, "id": "subtask-002", "text": "Pick up the first blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 381, "end_step": 445, "id": "subtask-003", "text": "Place the first blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 625, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 626, "end_step": 690, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 860, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 861, "end_step": 915, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1100, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1101, "end_step": 1150, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1151, "end_step": 1405, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1406, "end_step": 1465, "id": "subtask-011", "text": "Place the fifth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1466, "end_step": 1860, "id": "subtask-012", "text": "Pick up the sixth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1861, "end_step": 1920, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1921, "end_step": 2065, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 2066, "end_step": 2125, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2126, "end_step": 3275, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 195, "id": "subtask-001", "text": "Open the fruit storage bag with the right hand. | Skill: open", "task_skill": "open", "atomic_action": []}, {"label": "subtasks", "start_step": 196, "end_step": 380, "id": "subtask-002", "text": "Pick up the first blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 381, "end_step": 445, "id": "subtask-003", "text": "Place the first blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 446, "end_step": 625, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 626, "end_step": 690, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 691, "end_step": 860, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 861, "end_step": 915, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1100, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1101, "end_step": 1150, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1151, "end_step": 1405, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1406, "end_step": 1465, "id": "subtask-011", "text": "Place the fifth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1466, "end_step": 1860, "id": "subtask-012", "text": "Pick up the sixth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1861, "end_step": 1920, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1921, "end_step": 2065, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 2066, "end_step": 2125, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2126, "end_step": 3275, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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diff --git a/pack_blueberries_in_bag/season_POC22065_2026_06_17_14_31_57_train/lerobot_v3.0/meta/annotations.jsonl b/pack_blueberries_in_bag/season_POC22065_2026_06_17_14_31_57_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ea8ecb34d61310c62454abc5bb2029cab4330fa3
--- /dev/null
+++ b/pack_blueberries_in_bag/season_POC22065_2026_06_17_14_31_57_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,49 @@
+{"source_uid": "97d85104a1a98572", "num_frames": 3116, "episode_id": "POC22065_2026_06_17_14_31_57_train", "episode_dir": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pack_Blueberries/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pack_Blueberries/season_POC22065_2026_06_17_14_31_57_train/POC22065_2026_06_17_14_31_57_train", "anno_path": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData/Pack_Blueberries/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pack_Blueberries/season_POC22065_2026_06_17_14_31_57_train/POC22065_2026_06_17_14_31_57_train/anno.json", "source_hdf5": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pack_Blueberries/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/Pack_Blueberries/season_POC22065_2026_06_17_14_31_57_train/POC22065_2026_06_17_14_31_57_train/train_0.3.0@2026_06_17_14_31_57.hdf5", "tags": {"task_name": "Pack_Blueberries", "task_instruction": "Open the fruit storage bag with the right hand. 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"atomic_action": []}, {"label": "subtasks", "start_step": 496, "end_step": 771, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 772, "end_step": 837, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 838, "end_step": 987, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 988, "end_step": 1065, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1066, "end_step": 1215, "id": "subtask-008", "text": "Pick up the 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"subtasks", "start_step": 1687, "end_step": 1767, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1768, "end_step": 1923, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1924, "end_step": 1986, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1987, "end_step": 2953, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 213, "id": "subtask-001", "text": "Open 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"start_step": 838, "end_step": 987, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 988, "end_step": 1065, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1066, "end_step": 1215, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1216, "end_step": 1287, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1288, "end_step": 1413, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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"subtasks", "start_step": 1607, "end_step": 1686, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1687, "end_step": 1856, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1857, "end_step": 1926, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1927, "end_step": 2986, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 171, "id": "subtask-001", "text": "Open 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"start_step": 632, "end_step": 816, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 901, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 902, "end_step": 1076, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1077, "end_step": 1151, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1152, "end_step": 1366, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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"end_step": 2095, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2096, "end_step": 2970, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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1775, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1776, "end_step": 3160, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"start_step": 646, "end_step": 800, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 801, "end_step": 865, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 866, "end_step": 1030, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1031, "end_step": 1120, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1121, "end_step": 1275, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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"start_step": 636, "end_step": 785, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 786, "end_step": 860, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 861, "end_step": 1215, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1216, "end_step": 1300, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1301, "end_step": 1515, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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"start_step": 836, "end_step": 1005, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1006, "end_step": 1075, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1076, "end_step": 1245, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1246, "end_step": 1315, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1316, "end_step": 1525, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the 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"end_step": 2180, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2181, "end_step": 3265, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"atomic_action": []}, {"label": "subtasks", "start_step": 431, "end_step": 575, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 576, "end_step": 650, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 651, "end_step": 815, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 816, "end_step": 880, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 1055, "id": "subtask-008", "text": "Pick up the fourth 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"subtasks", "start_step": 1771, "end_step": 1845, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1846, "end_step": 1985, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1986, "end_step": 2040, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 2041, "end_step": 2785, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 200, "id": "subtask-001", "text": "Open 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"start_step": 646, "end_step": 800, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 801, "end_step": 880, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 881, "end_step": 1045, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1046, "end_step": 1110, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1111, "end_step": 1260, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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"start_step": 611, "end_step": 755, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 756, "end_step": 825, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 826, "end_step": 980, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 981, "end_step": 1050, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1051, "end_step": 1220, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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"atomic_action": []}, {"label": "subtasks", "start_step": 346, "end_step": 495, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 496, "end_step": 560, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 561, "end_step": 705, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 765, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 900, "id": "subtask-008", "text": "Pick up the fourth 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561, "end_step": 705, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 706, "end_step": 765, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 766, "end_step": 900, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 965, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 966, "end_step": 1100, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left hand. | Skill: 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"atomic_action": []}, {"label": "subtasks", "start_step": 341, "end_step": 485, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 486, "end_step": 545, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 546, "end_step": 680, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 681, "end_step": 745, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 746, "end_step": 1110, "id": "subtask-008", "text": "Pick up the fourth 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"subtasks", "start_step": 1536, "end_step": 1605, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1606, "end_step": 1750, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1751, "end_step": 1805, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1806, "end_step": 2605, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 185, "id": "subtask-001", "text": "Open 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"start_step": 546, "end_step": 680, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 681, "end_step": 745, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 746, "end_step": 1110, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1111, "end_step": 1190, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1191, "end_step": 1340, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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1805, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1806, "end_step": 2605, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"start_step": 811, "end_step": 925, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 926, "end_step": 980, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 981, "end_step": 1100, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1101, "end_step": 1160, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1161, "end_step": 1290, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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1775, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1776, "end_step": 3070, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"start_step": 671, "end_step": 820, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 821, "end_step": 885, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 886, "end_step": 1015, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1016, "end_step": 1075, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1076, "end_step": 1220, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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"atomic_action": []}, {"label": "subtasks", "start_step": 471, "end_step": 595, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 596, "end_step": 660, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 661, "end_step": 790, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 791, "end_step": 860, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 861, "end_step": 1000, "id": "subtask-008", "text": "Pick up the fourth 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"subtasks", "start_step": 1356, "end_step": 1410, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1411, "end_step": 1520, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1521, "end_step": 1575, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1576, "end_step": 2285, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 250, "id": "subtask-001", "text": "Open 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"start_step": 661, "end_step": 790, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 791, "end_step": 860, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 861, "end_step": 1000, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1001, "end_step": 1055, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1056, "end_step": 1180, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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1575, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1576, "end_step": 2285, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"atomic_action": []}, {"label": "subtasks", "start_step": 336, "end_step": 525, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 526, "end_step": 585, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 586, "end_step": 720, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 775, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 776, "end_step": 895, "id": "subtask-008", "text": "Pick up the fourth 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"start_step": 1266, "end_step": 1325, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1326, "end_step": 1485, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1486, "end_step": 1545, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1546, "end_step": 2390, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 170, "id": "subtask-001", "text": "Open the fruit 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586, "end_step": 720, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 721, "end_step": 775, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 776, "end_step": 895, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 896, "end_step": 950, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 951, "end_step": 1090, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left hand. | Skill: 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"start_step": 676, "end_step": 805, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 806, "end_step": 865, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 866, "end_step": 1000, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1001, "end_step": 1050, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1051, "end_step": 1260, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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1750, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1751, "end_step": 3745, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"start_step": 661, "end_step": 850, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 851, "end_step": 910, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 911, "end_step": 1065, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1066, "end_step": 1130, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1131, "end_step": 1325, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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"atomic_action": []}, {"label": "subtasks", "start_step": 351, "end_step": 510, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 511, "end_step": 580, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 581, "end_step": 730, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 731, "end_step": 795, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 970, "id": "subtask-008", "text": "Pick up the fourth 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"subtasks", "start_step": 1366, "end_step": 1440, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1441, "end_step": 1585, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1586, "end_step": 1650, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1651, "end_step": 2605, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 165, "id": "subtask-001", "text": "Open 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"start_step": 581, "end_step": 730, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 731, "end_step": 795, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 796, "end_step": 970, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 971, "end_step": 1035, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1165, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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1650, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1651, "end_step": 2605, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"atomic_action": []}, {"label": "subtasks", "start_step": 371, "end_step": 530, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 531, "end_step": 605, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 606, "end_step": 745, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 746, "end_step": 810, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 811, "end_step": 975, "id": "subtask-008", "text": "Pick up the fourth 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"subtasks", "start_step": 1486, "end_step": 1550, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1551, "end_step": 1690, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1691, "end_step": 1745, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1746, "end_step": 3960, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 190, "id": "subtask-001", "text": "Open 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1745, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1746, "end_step": 3960, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"start_step": 741, "end_step": 900, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 901, "end_step": 965, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 966, "end_step": 1150, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1151, "end_step": 1210, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1211, "end_step": 1385, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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"atomic_action": []}, {"label": "subtasks", "start_step": 356, "end_step": 515, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 516, "end_step": 580, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 581, "end_step": 750, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 815, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 816, "end_step": 1010, "id": "subtask-008", "text": "Pick up the fourth 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"subtasks", "start_step": 1451, "end_step": 1520, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1521, "end_step": 1640, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1641, "end_step": 1705, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1706, "end_step": 2665, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 180, "id": "subtask-001", "text": "Open 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"start_step": 581, "end_step": 750, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 751, "end_step": 815, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 816, "end_step": 1010, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1011, "end_step": 1070, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1071, "end_step": 1235, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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1705, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1706, "end_step": 2665, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"atomic_action": []}, {"label": "subtasks", "start_step": 366, "end_step": 525, "id": "subtask-004", "text": "Pick up the second blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 526, "end_step": 595, "id": "subtask-005", "text": "Place the second blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 596, "end_step": 770, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 771, "end_step": 835, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 836, "end_step": 1010, "id": "subtask-008", "text": "Pick up the fourth 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"subtasks", "start_step": 1446, "end_step": 1510, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1511, "end_step": 1680, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1681, "end_step": 1745, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1746, "end_step": 2565, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 160, "id": "subtask-001", "text": "Open 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"start_step": 596, "end_step": 770, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 771, "end_step": 835, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 836, "end_step": 1010, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1011, "end_step": 1080, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1081, "end_step": 1235, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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1745, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1746, "end_step": 2565, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"start_step": 601, "end_step": 780, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 781, "end_step": 840, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 841, "end_step": 975, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 976, "end_step": 1040, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1041, "end_step": 1190, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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1645, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1646, "end_step": 2590, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "has_annotation": true, "annotation_status": "loaded", "global_task": "Task: Pack_Blueberries | Instruction: Open the fruit storage bag with the right hand. 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"subtasks", "start_step": 1506, "end_step": 1565, "id": "subtask-013", "text": "Place the sixth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1566, "end_step": 1700, "id": "subtask-014", "text": "Pick up the seventh blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1701, "end_step": 1770, "id": "subtask-015", "text": "Place the seventh blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1771, "end_step": 2665, "id": "subtask-016", "text": "Pinch the opening of the fruit storage bag with both hands and close the bag. | Skill: close", "task_skill": "close", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 200, "id": "subtask-001", "text": "Open 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"start_step": 666, "end_step": 830, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 831, "end_step": 895, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 896, "end_step": 1035, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1036, "end_step": 1095, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1096, "end_step": 1250, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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"start_step": 691, "end_step": 860, "id": "subtask-006", "text": "Pick up the third blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 861, "end_step": 915, "id": "subtask-007", "text": "Place the third blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 916, "end_step": 1100, "id": "subtask-008", "text": "Pick up the fourth blueberry from the table with the left hand. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1101, "end_step": 1150, "id": "subtask-009", "text": "Place the fourth blueberry into the fruit storage bag with the left hand. | Skill: place", "task_skill": "place", "atomic_action": []}, {"label": "subtasks", "start_step": 1151, "end_step": 1405, "id": "subtask-010", "text": "Pick up the fifth blueberry from the table with the left 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+                "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/pack_blueberries_in_bag/season_POC22065_2026_06_17_14_31_57_train/lerobot_v3.0/meta/modality.json b/pack_blueberries_in_bag/season_POC22065_2026_06_17_14_31_57_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/pack_blueberries_in_bag/season_POC22065_2026_06_17_14_31_57_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
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+      "end": 65,
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+      "absolute": true,
+      "dtype": "float32",
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+    },
+    "tcp_pose": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/pack_blueberries_in_bag/season_POC22065_2026_06_17_14_31_57_train/lerobot_v3.0/meta/stats.json b/pack_blueberries_in_bag/season_POC22065_2026_06_17_14_31_57_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..e08ed3239a2e8031edb8a4f48aa8189294c6369d
--- /dev/null
+++ b/pack_blueberries_in_bag/season_POC22065_2026_06_17_14_31_57_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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